apls8000/worker/wasmapi.js

var printCharBuffers = [null, [], []]
var UTF8Decoder = typeof TextDecoder !== 'undefined' ? new TextDecoder('utf8') : undefined
var HEAP8 = null // Int8Array
var HEAPU8 = null // Uint8Array
var HEAP16 = null // Int16Array
var HEAPU16 = null // Uint16Array
var HEAP32 = null // Int32Array
var HEAPU32 = null // Uint32Array
var HEAPF32 = null // Float32Array
var HEAPF64 = null // Float64Array

//注入函数，打印字符串，C代码中打印字符串需要以\n结束
function printChar(stream, curr) {
    var buffer = printCharBuffers[stream];
    //assert(buffer);
    if (curr === 0 || curr === 10) {
        //(stream === 1 ? out : err)(this.UTF8ArrayToString(buffer, 0));
        //buffer.length = 0;
        let str = UTF8ArrayToString(buffer, 0)
        console.log(str)//打印字符串
        buffer.length = 0;
    } else {
        buffer.push(curr);
    }
}

//注入函数，将字节数组转成字符数组
function UTF8ArrayToString(heapOrArray, idx, maxBytesToRead) {
    var endIdx = idx + maxBytesToRead;
    var endPtr = idx;
    // TextDecoder needs to know the byte length in advance, it doesn't stop on
    // null terminator by itself.  Also, use the length info to avoid running tiny
    // strings through TextDecoder, since .subarray() allocates garbage.
    // (As a tiny code save trick, compare endPtr against endIdx using a negation,
    // so that undefined means Infinity)
    while (heapOrArray[endPtr] && !(endPtr >= endIdx)) ++endPtr;

    if (endPtr - idx > 16 && heapOrArray.buffer && UTF8Decoder) {
        return UTF8Decoder.decode(heapOrArray.subarray(idx, endPtr));
    }
    var str = '';
    // If building with TextDecoder, we have already computed the string length
    // above, so test loop end condition against that
    while (idx < endPtr) {
        // For UTF8 byte structure, see:
        // http://en.wikipedia.org/wiki/UTF-8#Description
        // https://www.ietf.org/rfc/rfc2279.txt
        // https://tools.ietf.org/html/rfc3629
        var u0 = heapOrArray[idx++];
        if (!(u0 & 0x80)) { str += String.fromCharCode(u0); continue; }
        var u1 = heapOrArray[idx++] & 63;
        if ((u0 & 0xE0) == 0xC0) { str += String.fromCharCode(((u0 & 31) << 6) | u1); continue; }
        var u2 = heapOrArray[idx++] & 63;
        if ((u0 & 0xF0) == 0xE0) {
            u0 = ((u0 & 15) << 12) | (u1 << 6) | u2;
        } else {
            //if ((u0 & 0xF8) != 0xF0) warnOnce('Invalid UTF-8 leading byte ' + ptrToString(u0) + ' encountered when deserializing a UTF-8 string in wasm memory to a JS string!');
            u0 = ((u0 & 7) << 18) | (u1 << 12) | (u2 << 6) | (heapOrArray[idx++] & 63);
        }

        if (u0 < 0x10000) {
            str += String.fromCharCode(u0);
        } else {
            var ch = u0 - 0x10000;
            str += String.fromCharCode(0xD800 | (ch >> 10), 0xDC00 | (ch & 0x3FF));
        }
    }
    return str;
}

const wasmapi = {
    wasmInstance: null,//wasm实例
    wasmFuncs: null,//wasm导出函数
    wasmDataPtr: {//wasm模块的数据指针
        installBtsDataPtr: 0,//安装基站数据指针
        bleBtsDataPtr: 0,//蓝牙基站数据指针
        audioDataPtr: 0,//音频数据指针
        currentLocationCoordPtr: 0,//定位坐标数据指针
        accDataPtr: 0,//加速度指针
        softNameAndVersionPtr: 0,//软件名称和版本数据指针
        btsSysConfigParamPtr: 0,//基站系统配置参数
        sysDebugSwitchPtr: 0,//系统调试开关数据指针
    },
    data: {
        audioDataList: [],//音频数据队列
        oneFrameLen: 12000,//一帧音频数据长度

        bleBtsMonitorSuccessFlag: false,//蓝牙基站监听成功标识符
        bleBtsDataList: [], //蓝牙基站队列

        installBtsInjectFlag: false,//安装基站已注入标识符

        accDataList: [],//加速度数据队列
    },
    ////wasm注入函数，将数据从源地址src拷贝长度为num的数据到目的地址dest
    _emscripten_memcpy_js(dest, src, num) {
        HEAPU8.copyWithin(dest, src, src + num)
    },
    _emscripten_resize_heap(requestedSize) {
        let oldSize = HEAPU8.length
        // With CAN_ADDRESS_2GB or MEMORY64, pointers are already unsigned.
        requestedSize >>>= 0
        this.abortOnCannotGrowMemory(requestedSize)
    },
    abortOnCannotGrowMemory(requestedSize) {
        abort(`Cannot enlarge memory arrays to size ${requestedSize} bytes (OOM). Either (1) compile with -sINITIAL_MEMORY=X with X higher than the current value ${HEAP8.length}, (2) compile with -sALLOW_MEMORY_GROWTH which allows increasing the size at runtime, or (3) if you want malloc to return NULL (0) instead of this abort, compile with -sABORTING_MALLOC=0`);
    },
    _fd_write(fd, iov, iovcnt, pnum) {
        let num = 0
        for (let i = 0; i < iovcnt; i++) {
            let ptr = HEAP32[((iov) >> 2)]
            let len = HEAP32[(((iov) + (4)) >> 2)]
            iov += 8
            for (let j = 0; j < len; j++) {
                printChar(fd, HEAPU8[ptr + j])
            }
            num += len
        }
        HEAP32[((pnum) >> 2)] = num

        return 0
    },
    _fd_close(fd) {
        abort('fd_close called without SYSCALLS_REQUIRE_FILESYSTEM');
        return 0
    },
    _fd_seek(fd, offset_low, offset_high, whence, newOffset) {
        abort('it should not be possible to operate on streams when !SYSCALLS_REQUIRE_FILESYSTEM')
        return 0;
    },
    _emscripten_date_now() {
        return new Date().getTime()
    },
    // __emscripten_get_now_is_monotonic() {
    //     return 1
    // },
    // _emscripten_get_now() {
    //     return new Date().getTime()
    // },
    //加载微信wasm模块
    loadWxWasm() {
        let self = this
        //let configParam = { d: this._emscripten_date_now, b: this._emscripten_memcpy_js, a: this._emscripten_resize_heap, c: this._fd_write }
        let configParam = {}
        configParam.emscripten_memcpy_js = this._emscripten_memcpy_js
        configParam.emscripten_resize_heap = this._emscripten_resize_heap
        configParam.fd_write = this._fd_write
        configParam.fd_close = this._fd_close
        configParam.fd_seek = this._fd_seek
        configParam.emscripten_date_now = this._emscripten_date_now
        // configParam._emscripten_get_now_is_monotonic = this.__emscripten_get_now_is_monotonic
        // configParam.emscripten_get_now = this._emscripten_get_now

        let importObject = {}
        importObject.env = configParam
        importObject.wasi_snapshot_preview1 = configParam
        //importObject.a = configParam

        //返回值res:{instance{}, Module{}}：包含instance和Module对象，instance中也包含Module。
        //js使用instance或者Module中Exports对象中的函数(包括用户自定义的函数和系统函数)完成既定功能
        //instantiate的第一个参数为绝对路径
        WXWebAssembly.instantiate("wasm/aplm8000sdk.wasm", importObject).then((res) => {
            self.wasmInstance = res.instance//WASM模块实例
            self.wasmFuncs = self.wasmInstance.exports//WASM模块接口

            //初始化内存
            if (self.wasmInstance.exports['memory']) {
                let buf = self.wasmInstance.exports['memory'].buffer
                HEAP8 = new Int8Array(buf)
                HEAPU8 = new Uint8Array(buf)
                HEAP16 = new Int16Array(buf)
                HEAPU16 = new Uint16Array(buf)
                HEAP32 = new Int32Array(buf)
                HEAPU32 = new Uint32Array(buf)
                HEAPF32 = new Float32Array(buf)
                HEAPF64 = new Float64Array(buf)
            }

            //wasm模块初始化
            self.wasmFuncs.main()

            //获得wasm模块路由基站数据指针
            self.wasmDataPtr.bleBtsDataPtr = self.wasmFuncs.exchange_js_get_route_bts_save_address()

            //获得wasm模块安装基站的数据指针
            self.wasmDataPtr.installBtsDataPtr = self.wasmFuncs.exchange_js_get_install_bts_save_address()

            //获得wasm模块音频数据指针
            self.wasmDataPtr.audioDataPtr = self.wasmFuncs.exchange_js_get_audio_data_save_address()

            //获得wasm模块定位坐标数据指针
            self.wasmDataPtr.currentLocationCoordPtr = self.wasmFuncs.exchange_js_get_current_location_coord_save_address()

            //获得wasm模块加速度数据指针
            self.wasmDataPtr.accDataPtr = self.wasmFuncs.exchange_js_get_acc_save_address()

            //获得wasm模块软件名称和版本数据指针
            self.wasmDataPtr.softNameAndVersionPtr = self.wasmFuncs.exchange_js_get_soft_name_and_version_save_address()

            //获得wasm模块基站系统配置参数
            self.wasmDataPtr.btsSysConfigParamPtr = self.wasmFuncs.exchange_js_get_sys_config_param_save_address()
            self.injectBtsSysConfigParamToWasm()//注入数据并通知wasm模块设置基站系统配置参数

            //获得系统调试开关数据指针并配置调试开关
            self.wasmDataPtr.sysDebugSwitchPtr = self.wasmFuncs.exchange_js_get_debug_switch_data_address()
            self.injectSysDebugSwitchToWasm()//注入调试开关数据

            //通知主控模块开始监听蓝牙
            worker.postMessage({
                message: 'WORKER_MAIN_START_MONITOR_BLE_BTS',
                data: ''
            })

            //TODO打印软件名称与版本
            let softNameAndVersionPtr = self.wasmDataPtr.softNameAndVersionPtr
            let softName = []
            let softVersion = []
            for (let i = 0; i < 18; i++) {
                if (i < 11) {
                    softName.push(HEAPU8[softNameAndVersionPtr + i])
                } else {
                    softVersion.push(HEAPU8[softNameAndVersionPtr + i])
                }
            }
            console.log("软件版本:" + softName.map(num => String.fromCharCode(num)).join('') + " " + softVersion.map(num => String.fromCharCode(num)).join(''))
        }).catch((err) => {
            console.log("加载wasm对象出错", err)
        })
    },
    //保存蓝牙基站数据至本地
    saveBleBtsDataToLocal(dataList) {
        if (!dataList || dataList.length < 4) {
            return
        }

        //蓝牙基站监听成功，保存数据
        this.data.bleBtsMonitorSuccessFlag = true//蓝牙基站监听成功标识符
        this.data.bleBtsDataList.splice(0, this.data.bleBtsDataList.length)
        this.data.bleBtsDataList = dataList//保存蓝牙基站数据，并覆盖以前的数据

        //通知主控模块注入安装基站数据(只注入一次)
        if (!this.data.installBtsInjectFlag) {
            worker.postMessage({
                message: 'WORKER_MAIN_ORGANIZE_INSTALL_BTS_DATA',//通知主线程组织安装基站数据
                data: ''
            })
        }
    },
    //清除蓝牙基站设备（没有监听到本系统的蓝牙基站）
    clearBleBtsData() {
        this.data.bleBtsMonitorSuccessFlag = false//蓝牙基站监听失败
        this.data.bleBtsDataList.splice(0, this.data.bleBtsDataList.length)
    },
    //发送蓝牙基站数据至wasm模块
    sendBleBtsDataToWasm() {
        let dataList = []

        //监听蓝牙基站失败
        if (!this.data.bleBtsMonitorSuccessFlag) {
            return
        }

        //将数据保存至wasm模块
        dataList = this.data.bleBtsDataList
        let dataLen = dataList.length
        if (this.wasmDataPtr.bleBtsDataPtr > 0) {
            let ptr = this.wasmDataPtr.bleBtsDataPtr / 4//蓝牙基站数据在wasm模块按4字节存储
            for (let i = 0; i < dataLen; i++) {
                HEAP32[ptr + i] = dataList[i]//写入数据
            }
        } else {
            console.log("蓝牙指针尚未初始化")
            return
        }

        //清除本地蓝牙基站数据
        this.data.bleBtsDataList.splice(0, this.data.bleBtsDataList.length)
        this.data.bleBtsMonitorSuccessFlag = false

        // // //TODO，打印一下看看效果，正式版本要去掉
        // if (this.wasmFuncs != null) {
        //     this.wasmFuncs.exchange_js_notice_wasm_show_route_bts();
        // }

        return
    },
    //发送安装基站数据至wasm模块
    sendInstallBtsDataToWasm(dataList) {
        //将数据保存至wasm模块
        if (this.wasmDataPtr.installBtsDataPtr > 0 && dataList.length > 0) {
            this.data.installBtsInjectFlag = true//注入标识符置1

            //向wasm模块注入数据
            let ptr = this.wasmDataPtr.installBtsDataPtr / 4//基站数据在wasm模块按4字节存储
            for (let i = 0; i < dataList.length; i++) {
                HEAP32[ptr + i] = dataList[i]
            }

            //向主线程发消息开始录音
            worker.postMessage({
                message: 'WORKER_MAIN_START_REC',
                data: ''
            })
        }

        // // TODO，打印一下看看效果，正式版本要去掉
        // if (this.wasmFuncs != null) {
        //     this.wasmFuncs.exchange_js_notice_wasm_show_install_bts()
        // }
    },
    //处理音频数据，实施定位操作
    //buffer:录音数据，为二进制单字节(byte)数据数组
    processAudioData(buffer) {
        //注入蓝牙基站数据
        this.sendBleBtsDataToWasm()

        ////创建数据视图。
        //录音数据是arraryBuffer类型，该类型数据为二进制单字节(byte)数据数组，不能直接读写，需要在buffer上创建数据视图后方可操作数据
        const dataView = new DataView(buffer);//创建一个数据视图

        //遍历数据视图
        let sample = 0
        let dataLen = Math.floor(dataView.byteLength / 2) //一个采样点为两个字节
        if (dataLen > 0) {
            //把数据插入全局队列，以便实施成帧处理
            for (let i = 0; i < dataLen; i++) {
                sample = dataView.getInt16(2 * i, true)//数据大小端模式，true:小端模式，false:大端模式
                this.data.audioDataList.push(sample)
            }

            //计算全局队列中数据的帧数
            let frameCounter = Math.floor(this.data.audioDataList.length / this.data.oneFrameLen)
            if (frameCounter) {//至少有一帧数据
                //截取音频数据帧(可能是1帧，也可能是多帧。若是多帧，有可能导致处理超时)
                const dataList = this.data.audioDataList.splice(0, frameCounter * this.data.oneFrameLen)

                //把音频数据逐帧注入wasm模块
                let ptr = this.wasmDataPtr.audioDataPtr / 2//音频数据在wasm模块中按2字节存储
                for (let i = 0; i < frameCounter; i++) {
                    // let beginTime = new Date().getTime()//开始计时

                    //1、把数据注入wasm模块
                    let baseIndex = i * this.data.oneFrameLen
                    for (let j = 0; j < this.data.oneFrameLen; j++) {
                        let item = dataList[baseIndex + j]
                        HEAP16[ptr + j] = item//把音频数据注入wasm模块
                    }

                    //2、注入加速度数据
                    let oneFrameAccDataList = []
                    oneFrameAccDataList = this.organizeOneFrameAccData()//组织一秒加速度数据
                    this.injectAccDataToWasm(oneFrameAccDataList)//注入数据


                    //3、通知wasm模块处理音频数据
                    let result = this.wasmFuncs.exchange_js_notice_wasm_start_work()

                    // let stopTime = new Date().getTime() - beginTime//结束计时
                    // console.log("耗时：", stopTime)

                    //4、获取wasm模块处理音频数据的结果
                    if (result != 1) {
                        console.log("音频数据处理错误")
                    } else {
                        let item = []

                        //定位坐标数据在wasm模块中按4字节存储
                        let locationCoordPtr = this.wasmDataPtr.currentLocationCoordPtr / 4

                        //a、从wasm模块读取音频数据处理结果
                        for (let i = 0; i < 18; i++) {
                            item.push(HEAP32[locationCoordPtr + i])
                        }

                        //TODO，b、使用定位结果这部分，需要二次开放商根据业务需求，做定制开发
                        //使用定位结果
                        if (item[0] === 1 && item[1] === 1) {
                            let coord = {}
                            coord.x = item[2]
                            coord.y = item[3]

                            //imu移动标识符
                            const imuMoveFlag = item[17]//0:惯导计算出错，1：惯导计算成功，但手机未移动，50：惯导计算能成功，手机有移动
                            if (imuMoveFlag == 50) {//手机有移动
                                //将定位坐标发送至主线程
                                worker.postMessage({
                                    message: 'WORKER_MAIN_CURRENT_LOCATION_COORD',
                                    data: coord
                                })
                            } else {//手机未移动或者出错
                                console.log("imu move flag:", imuMoveFlag)
                            }
                        }

                        // //向主线程发消息，通知读取音频文件
                        // worker.postMessage({
                        //     message: 'WORKER_MAIN_NOTICE_READ_AUDIO_FILE',//读取音频文件
                        //     data: ''
                        // })
                    }
                }
            }
        }
        return
    },
    //缓存加速度数据
    storeAccData(oneAccData) {
        let item = {}
        item.timestamp = oneAccData.timestamp
        item.x = oneAccData.x
        item.y = oneAccData.y
        item.z = oneAccData.z

        this.data.accDataList.push(item)//缓存加速度
    },
    //组织一帧加速度数据(约250毫秒)
    organizeOneFrameAccData() {
        let oneFrameAccData = [] //一帧加速度数据

        if (this.data.accDataList.length > 0) {
            let stopTimestamp = this.data.accDataList[0].timestamp + 260//250毫秒的数据
            let accCounter = 0//计数器

            for (let k = 0; k < this.data.accDataList.length; k++) {
                let oneAcc = {}

                oneAcc = this.data.accDataList[k]
                if (oneAcc.timestamp <= stopTimestamp) {
                    oneFrameAccData.push(oneAcc)
                    accCounter++
                } else {
                    break
                }
            }
            this.data.accDataList = this.data.accDataList.slice(accCounter)//截取加速度队列
        }
        return oneFrameAccData
    },
    //注入加速度到wasm模块
    injectAccDataToWasm(dataList) {
        let ptr = this.wasmDataPtr.accDataPtr / 4//加速度数据在wasm模块中按4字节存储
        let wLen = dataList.length;
        let item = {}

        if (wLen > 0) {
            //注入队列长度
            HEAPU32[ptr] = wLen //加速度队列长度
            ptr++

            //注入3轴加速度
            for (let i = 0; i < wLen; i++) {
                item = dataList[i]
                ptr = ptr + i * 3//修改数据指针，去掉时间戳数据
                HEAPF32[ptr] = item.x//x轴加速度
                HEAPF32[ptr + 1] = item.y//y轴加速度
                HEAPF32[ptr + 2] = item.z//z轴加速度
            }

            //保存数据
            this.wasmFuncs.exchange_js_notice_wasm_save_acc()
        }
    },
    //注入基站系统配置参数到wasm模块
    injectBtsSysConfigParamToWasm() {
        //注入数据
        let ptr = this.wasmDataPtr.btsSysConfigParamPtr / 4 //基站系统配置参数在wasm模块中按4字节存储
        HEAPU32[ptr] = 350 //基站幅度有效门限，默认值350
        HEAPU32[ptr + 1] = 50 // 基站SNR有效门限，默认值50
        HEAPU32[ptr + 2] = 1500 // 主站幅度有效门限，默认值1500
        HEAPU32[ptr + 3] = 35 // 基站间最大间距，单位米，默认值35
        HEAPU32[ptr + 4] = 102 // 三轴陀螺仪加速度门限，默认值102

        //通知wasm模块设置基站系统配置参数
        this.wasmFuncs.exchange_js_notice_wasm_set_sys_config_param()
    },
    //注入系统调试开关参数到wasm模块，以决定打印相关调试信息
    injectSysDebugSwitchToWasm() {
        //注入数据
        let ptr = this.wasmDataPtr.sysDebugSwitchPtr / 4 //参数在wasm模块中按4字节存储
        HEAPU32[ptr] = 0 //初始化阶段主站信息，0：不打印，1：打印
        HEAPU32[ptr + 1] = 1 // 定位基站组，0：不打印，1：打印
        HEAPU32[ptr + 2] = 0 // 频率同步信息，0：不打印，1：打印
        HEAPU32[ptr + 3] = 0 // 初步有效基站组，0：不打印，1：打印
        HEAPU32[ptr + 4] = 0 // 最终有效基站组(暂无效)，0：不打印，1：打印
        HEAPU32[ptr + 5] = 1 // 路径选择，0：不打印，1：打印
        HEAPU32[ptr + 6] = 1 // 维度选择，0：不打印，1：打印
    },
    //通知wasm模块释放内存
    noticeWasmFreeMemory() {
        this.wasmFuncs.exchange_js_notice_wasm_free_memory()
    }
}

export default wasmapi