Initial LinuxCNC WebAssembly workspace snapshot

wasm-core/include/sim_api.h

@@ -0,0 +1,34 @@
+#ifndef LINUXCNC_WEB_WASM_SIM_API_H
+#define LINUXCNC_WEB_WASM_SIM_API_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+enum sim_result {
+    SIM_OK = 0,
+    SIM_ERR_INVALID_ARGUMENT = -1,
+    SIM_ERR_NOT_CREATED = -2,
+    SIM_ERR_BUFFER_TOO_SMALL = -3,
+    SIM_ERR_INVALID_STATE = -4,
+    SIM_ERR_UNSUPPORTED = -5,
+};
+
+/* Bootstrap ABI only. LinuxCNC behavior is added behind this stable boundary. */
+int32_t sim_create(const uint8_t *config, uint32_t config_len);
+int32_t sim_load_workspace(const char *root_path);
+int32_t sim_command(const uint8_t *command, uint32_t command_len);
+int32_t sim_step(uint32_t cycles);
+uint32_t sim_read_snapshot(uint8_t *out, uint32_t capacity);
+uint32_t sim_read_event(uint8_t *out, uint32_t capacity);
+int32_t sim_export_state(uint8_t *out, uint32_t capacity);
+int32_t sim_import_state(const uint8_t *data, uint32_t len);
+void sim_destroy(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

wasm-core/include/sim_event.h

@@ -0,0 +1,42 @@
+#ifndef LINUXCNC_WEB_WASM_SIM_EVENT_H
+#define LINUXCNC_WEB_WASM_SIM_EVENT_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define SIM_EVENT_KIND_CAPACITY 32U
+#define SIM_EVENT_CAPACITY 256U
+
+enum sim_event_result {
+    SIM_EVENT_OK = 0,
+    SIM_EVENT_ERR_SEQUENCE = -200,
+    SIM_EVENT_ERR_TICK = -201,
+    SIM_EVENT_ERR_ARGUMENT = -202,
+    SIM_EVENT_ERR_FULL = -203,
+    SIM_EVENT_ERR_BUFFER = -204,
+};
+
+typedef struct sim_event_record {
+    uint32_t seq;
+    uint32_t tick;
+    uint64_t payload_hash;
+    char kind[SIM_EVENT_KIND_CAPACITY];
+} sim_event_record;
+
+void sim_event_reset(void);
+int32_t sim_event_append(uint32_t seq, uint32_t tick, const char *kind,
+                         const uint8_t *payload, uint32_t payload_len);
+uint32_t sim_event_count(void);
+uint32_t sim_event_cursor(void);
+uint32_t sim_event_read(uint32_t index, uint8_t *out, uint32_t capacity);
+uint32_t sim_event_export(uint8_t *out, uint32_t capacity);
+int32_t sim_event_import(const uint8_t *data, uint32_t len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

wasm-core/include/sim_hal.h

@@ -0,0 +1,64 @@
+#ifndef LINUXCNC_WEB_WASM_SIM_HAL_H
+#define LINUXCNC_WEB_WASM_SIM_HAL_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define SIM_HAL_NAME_CAPACITY 48U
+#define SIM_HAL_PIN_CAPACITY 64U
+#define SIM_HAL_THREAD_CAPACITY 16U
+#define SIM_HAL_FUNCTION_CAPACITY 64U
+
+enum sim_hal_result {
+    SIM_HAL_OK = 0,
+    SIM_HAL_ERR_ARGUMENT = -300,
+    SIM_HAL_ERR_FULL = -301,
+    SIM_HAL_ERR_DUPLICATE = -302,
+    SIM_HAL_ERR_NOT_FOUND = -303,
+    SIM_HAL_ERR_TYPE = -304,
+    SIM_HAL_ERR_RANGE = -305,
+    SIM_HAL_ERR_CONNECTION = -306,
+    SIM_HAL_ERR_FUNCTION = -307,
+    SIM_HAL_ERR_REAL_EXCLUDED = -308,
+};
+
+enum sim_hal_type {
+    SIM_HAL_BIT = 1,
+    SIM_HAL_S32 = 2,
+    SIM_HAL_U32 = 3,
+    SIM_HAL_FLOAT = 4,
+};
+
+typedef struct sim_hal_value {
+    uint32_t type;
+    union {
+        uint32_t bit;
+        int32_t s32;
+        uint32_t u32;
+        float real;
+    } value;
+} sim_hal_value;
+
+void sim_hal_reset(void);
+int32_t sim_hal_register_pin(const char *name, uint32_t type);
+int32_t sim_hal_set_pin(const char *name, sim_hal_value value);
+int32_t sim_hal_get_pin(const char *name, sim_hal_value *out);
+int32_t sim_hal_connect(const char *source, const char *target);
+int32_t sim_hal_register_thread(const char *name, uint32_t period_ticks);
+int32_t sim_hal_register_function(const char *thread, const char *name);
+int32_t sim_hal_set_function_failure(const char *name, uint32_t fail);
+int32_t sim_hal_step(uint32_t ticks);
+uint32_t sim_hal_tick(void);
+uint32_t sim_hal_function_calls(const char *name);
+uint32_t sim_hal_pin_count(void);
+uint32_t sim_hal_thread_count(void);
+uint32_t sim_hal_function_count(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

wasm-core/include/sim_posemath.h

@@ -0,0 +1,32 @@
+#ifndef LINUXCNC_WEB_WASM_SIM_POSEMATH_H
+#define LINUXCNC_WEB_WASM_SIM_POSEMATH_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+enum sim_posemath_result {
+    SIM_POSEMATH_OK = 0,
+    SIM_POSEMATH_ERR_ARGUMENT = -400,
+    SIM_POSEMATH_ERR_NONFINITE = -401,
+    SIM_POSEMATH_ERR_DEGENERATE = -402,
+    SIM_POSEMATH_ERR_RANGE = -403,
+};
+
+typedef struct sim_posemath_cartesian {
+    double x;
+    double y;
+    double z;
+} sim_posemath_cartesian;
+
+int sim_posemath_normalize(const sim_posemath_cartesian *input, sim_posemath_cartesian *output);
+int sim_posemath_dot(const sim_posemath_cartesian *left, const sim_posemath_cartesian *right, double *output);
+int sim_posemath_line_point(const sim_posemath_cartesian *start, const sim_posemath_cartesian *end,
+                            double fraction, sim_posemath_cartesian *output);
+int sim_posemath_is_finite(const sim_posemath_cartesian *value);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

wasm-core/include/sim_protocol.h

@@ -0,0 +1,46 @@
+#ifndef LINUXCNC_WEB_WASM_SIM_PROTOCOL_H
+#define LINUXCNC_WEB_WASM_SIM_PROTOCOL_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+enum sim_protocol_result {
+    SIM_PROTOCOL_OK = 0,
+    SIM_PROTOCOL_ERR_SCHEMA = -100,
+    SIM_PROTOCOL_ERR_SEQUENCE = -101,
+    SIM_PROTOCOL_ERR_STATE = -102,
+    SIM_PROTOCOL_ERR_OPERATION_ID = -103,
+    SIM_PROTOCOL_ERR_KIND = -104,
+    SIM_PROTOCOL_ERR_ARGUMENT = -105,
+    SIM_PROTOCOL_ERR_TICK = -106,
+};
+
+enum sim_protocol_state {
+    SIM_PROTOCOL_NEW = 0,
+    SIM_PROTOCOL_HELLO = 1,
+    SIM_PROTOCOL_ATTACHED = 2,
+    SIM_PROTOCOL_READY = 3,
+    SIM_PROTOCOL_PAUSED = 4,
+    SIM_PROTOCOL_DESTROYED = 5,
+};
+
+/* The protocol validator is deliberately independent of JSON and malloc. */
+void sim_protocol_reset(void);
+int32_t sim_protocol_accept(uint32_t schema_version, uint32_t seq,
+                            const char *kind, const char *operation_id,
+                            uint32_t simulation_tick);
+int32_t sim_protocol_pause(void);
+int32_t sim_protocol_resume(void);
+int32_t sim_protocol_state_value(void);
+uint32_t sim_protocol_last_seq(void);
+uint32_t sim_protocol_tick(void);
+int32_t sim_protocol_set_tick(uint32_t simulation_tick);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif