New SITL "TARGET": Webassembly (Experimental)

.github/workflows/ci.yml

@@ -266,6 +266,41 @@ jobs:
             ./build_SITL/*.exe
             ./build_SITL/cygwin1.dll
 
+  build-SITL-Webassembly:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup Emscripten
+        uses: pyodide/setup-emsdk@v15
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_WASM && cd build_WASM && cmake -DWASM=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.BUILD_NAME }}_WASM
+          path: | 
+            ./build_WASM/*_WASM.*
+            ./build_WASM/*.html
+
   test:
     #needs: [build]
     runs-on: ubuntu-latest

.gitignore

@@ -17,7 +17,6 @@ startup_stm32f10x_md_gcc.s
 #.vscode/
 cov-int*
 /build/
-/build_SITL/
 /[hs]itl/
 /ninja/
 /obj/
@@ -27,6 +26,7 @@ cov-int*
 /debug/
 /release/
 /*_SITL/
+/*_WASM/
 
 # script-generated files
 docs/Manual.pdf

.vscode/c_cpp_properties.json

@@ -4,17 +4,19 @@
             "name": "Linux",
             "includePath": [
                 "${workspaceRoot}",
-                "${workspaceRoot}/src/main/**"
+                "${workspaceRoot}/src/main/**",
+                "${workspaceRoot}/../emsdk/upstream/emscripten/cache/sysroot/include",
+                "${workspaceRoot}/src/main/target/SITL/**",
             ],
             "browse": {
                 "limitSymbolsToIncludedHeaders": false,
                 "path": [
                     "${workspaceRoot}/**"
                 ]
             },
-            "intelliSenseMode": "msvc-x64",
-            "cStandard": "c11",
-            "cppStandard": "c++17",
+            "intelliSenseMode": "gcc-arm",
+            "cStandard": "c23",
+            "cppStandard": "c++23",
             "defines": [
                 "USE_OSD",
                 "USE_GYRO_NOTCH_1",
@@ -53,7 +55,11 @@
                 "USE_GYRO_FFT_FILTER",
                 "USE_BARO_DPS310",
                 "USE_ADAPTIVE_FILTER",
-                "MCU_FLASH_SIZE 1024"
+                "MCU_FLASH_SIZE 1024",
+                "WASM_BUILD",
+                "USE_BLACKBOX = 0",
+                "CONFIG_IN_FILE",
+                "EEPROM_FILENAME=\"eeprom.bin\""
             ],
             "configurationProvider": "ms-vscode.cmake-tools"
         }

CMakeLists.txt

@@ -11,9 +11,15 @@ set(DOWNLOADS_DIR "${MAIN_DIR}/downloads")
 set(TOOLS_DIR "${MAIN_DIR}/tools")
 
 option(SITL "SITL build for host system" OFF)
+option(WASM "WebAssembly build using Emscripten" OFF)
 
-set(TOOLCHAIN_OPTIONS none arm-none-eabi host)
-if (SITL)
+set(TOOLCHAIN_OPTIONS none arm-none-eabi host emscripten)
+if (WASM)
+    if (CMAKE_HOST_APPLE)
+        set(MACOSX TRUE)
+    endif()
+    set(TOOLCHAIN "emscripten" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
+elseif (SITL)
     if (CMAKE_HOST_APPLE)
         set(MACOSX TRUE)
     endif()
@@ -43,7 +49,7 @@ include(settings)
 if(TOOLCHAIN STREQUAL none)
     add_subdirectory(src/test)
 else()
-    if (SITL)
+    if (SITL OR WASM)
         include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}.cmake")
     else()
         set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}.cmake")
@@ -54,10 +60,13 @@ endif()
 
 project(INAV VERSION 9.0.0)
 
+if(NOT CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
+    enable_language(ASM)
+endif()
 
-enable_language(ASM)
-
-if(MACOSX AND SITL)
+if(CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
+    set(CMAKE_C_STANDARD 11)
+elseif(MACOSX AND SITL)
     set(CMAKE_C_STANDARD 11)
 else()
     set(CMAKE_C_STANDARD 99)
@@ -84,14 +93,15 @@ set(COMMON_COMPILE_DEFINITIONS
     FC_VERSION_TYPE="${VERSION_TYPE}"
 )
 
-if (NOT SITL)
+if (NOT SITL AND NOT WASM)
     include(openocd)
     include(svd)
 endif()
 
 include(stm32)
 include(at32)
 include(sitl)
+include(wasm)
 
 add_subdirectory(src)
 

cmake/emscripten.cmake

@@ -0,0 +1,64 @@
+# Emscripten WebAssembly Toolchain Configuration
+# This toolchain enables building INAV as WebAssembly (WASM) using Emscripten
+
+set(CMAKE_SYSTEM_NAME Emscripten)
+set(CMAKE_SYSTEM_PROCESSOR wasm)
+
+# Find Emscripten compiler
+find_program(EMCC emcc DOC "Emscripten C compiler")
+find_program(EMXX em++ DOC "Emscripten C++ compiler")
+
+if(NOT EMCC OR NOT EMXX)
+    message(FATAL_ERROR 
+        "Emscripten not found. Please install Emscripten SDK:\n"
+        "  https://emscripten.org/docs/getting_started/downloads.html\n"
+        "And activate the environment:\n"
+        "  source ~/emsdk/emsdk_env.sh  (Linux/macOS)\n"
+        "  Or use the Windows batch file"
+    )
+endif()
+
+# Set compiler
+set(CMAKE_C_COMPILER ${EMCC} CACHE INTERNAL "Emscripten C compiler")
+set(CMAKE_CXX_COMPILER ${EMXX} CACHE INTERNAL "Emscripten C++ compiler")
+
+# Disable C++ extensions for consistency
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# Build type defaults
+if(NOT CMAKE_CONFIGURATION_TYPES)
+    set(CMAKE_CONFIGURATION_TYPES Debug Release)
+endif()
+if(CMAKE_BUILD_TYPE STREQUAL "")
+    set(CMAKE_BUILD_TYPE Release)
+endif()
+
+set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Build Type" FORCE)
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${CMAKE_CONFIGURATION_TYPES})
+
+# Compiler flags for different build types
+set(emscripten_debug "-O0 -g -DDEBUG")
+set(emscripten_release "-O3 -DNDEBUG")
+
+set(CMAKE_C_FLAGS_DEBUG ${emscripten_debug} CACHE INTERNAL "emscripten C compiler flags debug")
+set(CMAKE_CXX_FLAGS_DEBUG ${emscripten_debug} CACHE INTERNAL "emscripten C++ compiler flags debug")
+
+set(CMAKE_C_FLAGS_RELEASE ${emscripten_release} CACHE INTERNAL "emscripten C compiler flags release")
+set(CMAKE_CXX_FLAGS_RELEASE ${emscripten_release} CACHE INTERNAL "emscripten C++ compiler flags release")
+
+# Generic flags for all builds
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99 -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+
+# Link flags
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EMSCRIPTEN_LINK_FLAGS}")
+
+# File extension for binaries
+set(CMAKE_EXECUTABLE_SUFFIX ".js")
+
+# Skip compiler checks that don't work with Emscripten
+set(CMAKE_C_COMPILER_WORKS 1)
+set(CMAKE_CXX_COMPILER_WORKS 1)
+
+# Disable ASM support
+set(CMAKE_ASM_COMPILER_WORKS 1)

cmake/fix_wasm_build_files.cmake

@@ -0,0 +1,97 @@
+# Fix WebAssembly filename references in generated files
+# This script updates both the .js file and HTML file with correct versioned filenames
+#
+# Usage: cmake -P fix_wasm_build_files.cmake --arg <js_file> <html_file> <wasm_basename> <js_filename> [<firmware_version>]
+# Example: cmake -P fix_wasm_build_files.cmake --arg inav_9.0.0_WASM.js index.html inav_9.0.0_WASM inav_9.0.0_WASM.js 9.0.0
+
+# Parse arguments (skip the script name and --arg flag)
+set(argc ${CMAKE_ARGC})
+set(argv ${CMAKE_ARGV})
+
+if(argc LESS 7)
+    message(FATAL_ERROR "fix_wasm_build_files.cmake requires: js_file, html_file, wasm_basename, and js_filename")
+endif()
+
+# Arguments are at positions 4, 5, 6, and 7 (0-indexed)
+set(js_file "${CMAKE_ARGV4}")
+set(html_file "${CMAKE_ARGV5}")
+set(wasm_basename "${CMAKE_ARGV6}")
+set(js_filename "${CMAKE_ARGV7}")
+# Optional firmware version at position 8
+if(argc GREATER 7)
+    set(firmware_version "${CMAKE_ARGV8}")
+else()
+    set(firmware_version "")
+endif()
+
+if(NOT EXISTS "${js_file}")
+    message(FATAL_ERROR "JavaScript file not found: ${js_file}")
+endif()
+
+if(NOT EXISTS "${html_file}")
+    message(FATAL_ERROR "HTML file not found: ${html_file}")
+endif()
+
+message(STATUS "Fixing WASM filenames in: ${js_file}")
+message(STATUS "Fixing WASM HTML in: ${html_file}")
+message(STATUS "Target WASM basename: ${wasm_basename}")
+message(STATUS "Target JS filename: ${js_filename}")
+if(firmware_version)
+    message(STATUS "Firmware version: ${firmware_version}")
+endif()
+
+# ==========================================
+# Part 1: Fix JavaScript file
+# ==========================================
+
+# Read the entire .js file
+file(READ "${js_file}" js_content)
+
+# Use regex to replace ANY .wasm filename with the correct one
+# CMake regex doesn't support non-greedy matching, so use simpler pattern
+# Pattern: return locateFile('***.wasm') - match anything up to .wasm
+string(REGEX REPLACE "return locateFile\\('[^']+\\.wasm'\\)" "return locateFile('${wasm_basename}.wasm')" js_content "${js_content}")
+string(REGEX REPLACE "return locateFile\\(\"[^\"]+\\.wasm\"\\)" "return locateFile(\"${wasm_basename}.wasm\")" js_content "${js_content}")
+
+# Also handle direct locateFile calls without return
+string(REGEX REPLACE "locateFile\\('[^']+\\.wasm'\\)" "locateFile('${wasm_basename}.wasm')" js_content "${js_content}")
+string(REGEX REPLACE "locateFile\\(\"[^\"]+\\.wasm\"\\)" "locateFile(\"${wasm_basename}.wasm\")" js_content "${js_content}")
+
+# Handle new URL patterns for wasm file
+string(REGEX REPLACE "new URL\\('[^']+\\.wasm'" "new URL('${wasm_basename}.wasm'" js_content "${js_content}")
+string(REGEX REPLACE "new URL\\(\"[^\"]+\\.wasm\"" "new URL(\"${wasm_basename}.wasm\"" js_content "${js_content}")
+
+# Handle new URL patterns for worker js file  
+string(REGEX REPLACE "new Worker\\(new URL\\('[^']+\\.js'" "new Worker(new URL('${js_filename}'" js_content "${js_content}")
+string(REGEX REPLACE "new Worker\\(new URL\\(\"[^\"]+\\.js\"" "new Worker(new URL(\"${js_filename}\"" js_content "${js_content}")
+
+# Write the modified content back
+file(WRITE "${js_file}" "${js_content}")
+
+message(STATUS "Successfully updated WASM filename references to: ${wasm_basename}.wasm")
+
+# ==========================================
+# Part 2: Fix HTML file
+# ==========================================
+
+# Read the entire HTML file
+file(READ "${html_file}" html_content)
+
+# Replace the script src to load the correct WASM JS file
+# Pattern: script.src = 'inav_WASM.js?t=' or ./inav_WASM.js with cache-busting
+# Matches: wasmScriptTag.src = 'inav_WASM.js?t=' + Date.now(); or import('./inav_WASM.js?t=' + Date.now()); etc.
+# Preserve the ./ prefix if it exists by using group 2
+string(REGEX REPLACE "(['\"])(\\./)?(inav_)[^'\"]*\\.js" "\\1\\2${js_filename}" html_content "${html_content}")
+
+# Update the version in the footer if firmware_version is provided
+if(firmware_version)
+    string(REGEX REPLACE "INAV [0-9]+\\.[0-9]+\\.[0-9]+" "INAV ${firmware_version}" html_content "${html_content}")
+endif()
+
+# Write the modified content back
+file(WRITE "${html_file}" "${html_content}")
+
+message(STATUS "Successfully updated HTML to load: ${js_filename}")
+if(firmware_version)
+    message(STATUS "Updated version to: INAV ${firmware_version}")
+endif()

cmake/main.cmake

@@ -11,7 +11,7 @@ set(MAIN_DEFINITIONS
 
 
 # Can't check for OSX yet at this point
-if(SITL)
+if(SITL OR WASM)
     set(MAIN_COMPILE_OPTIONS
         -Wall
         -Wextra
@@ -96,7 +96,7 @@ function(setup_firmware_target exe name)
     get_property(targets GLOBAL PROPERTY VALID_TARGETS)
     list(APPEND targets ${name})
     set_property(GLOBAL PROPERTY VALID_TARGETS "${targets}")
-    if(NOT SITL)
+    if(NOT SITL AND NOT WASM)
         setup_openocd(${exe} ${name})
         setup_svd(${exe} ${name})
     endif()

cmake/settings.cmake

@@ -38,10 +38,15 @@ function(enable_settings exe name)
         set(USE_HOST_GCC "-g")
     endif()
     set(output ${dir}/${SETTINGS_GENERATED_H} ${dir}/${SETTINGS_GENERATED_C})
+    # For WASM builds, set SETTINGS_CXX to em++ (Emscripten C++)
+    set(settings_cxx_env "${args_SETTINGS_CXX}")
+    if(CMAKE_SYSTEM_NAME STREQUAL "Emscripten" AND settings_cxx_env STREQUAL "")
+        set(settings_cxx_env "em++")
+    endif()
     add_custom_command(
         OUTPUT ${output}
         COMMAND
-            ${CMAKE_COMMAND} -E env CFLAGS="${cflags}" TARGET=${name} PATH="$ENV{PATH}" SETTINGS_CXX=${args_SETTINGS_CXX}
+            ${CMAKE_COMMAND} -E env CFLAGS="${cflags}" TARGET=${name} PATH="$ENV{PATH}" SETTINGS_CXX=${settings_cxx_env} WASM_BUILD=1
             ${RUBY_EXECUTABLE} ${SETTINGS_GENERATOR} ${MAIN_DIR} ${SETTINGS_FILE} -o "${dir}" ${USE_HOST_GCC} 
         DEPENDS ${SETTINGS_GENERATOR} ${SETTINGS_FILE}
     )

cmake/sitl.cmake

@@ -142,25 +142,10 @@ function (target_sitl name)
     endif()
 
     add_custom_target(${name} ALL
-        cmake -E copy $<TARGET_FILE:${exe_target}> ${exe_filename}
+        COMMAND cmake -E copy $<TARGET_FILE:${exe_target}> ${exe_filename}
+        DEPENDS ${exe_target}
+        COMMENT "Copying executable: ${binary_name}"
     )
 
     setup_firmware_target(${exe_target} ${name} ${ARGN})
-    #clean_<target>
-    set(generator_cmd "")
-    if (CMAKE_GENERATOR STREQUAL "Unix Makefiles")
-        set(generator_cmd "make")
-    elseif(CMAKE_GENERATOR STREQUAL "Ninja")
-        set(generator_cmd "ninja")
-    endif()
-    if (NOT generator_cmd STREQUAL "")
-        set(clean_target "clean_${name}")
-        add_custom_target(${clean_target}
-            WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-            COMMAND ${generator_cmd} clean
-            COMMENT "Removing intermediate files for ${name}")
-        set_property(TARGET ${clean_target} PROPERTY
-            EXCLUDE_FROM_ALL 1
-            EXCLUDE_FROM_DEFAULT_BUILD 1)
-    endif()
 endfunction()