feat: WASM build for browser replay#89
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New Emscripten build under wasm/ and src/wasm/. Playback pre-extracts
ULog events into flat per-type arrays at init time, frees the raw file
bytes, and iterates cursors over the arrays. Target per-drone memory
~5 MB for a 1000 s flight, keeping multi-drone swarms within
mobile-browser budgets.
Per-message state updates are shared with native via
src/ulog_replay_apply.{c,h} (ulog_apply_attitude/gpos/lpos/aspd/vstatus/
home, ulog_local_to_global, ulog_nav_state_name). Native process_message
now decodes into event structs and dispatches to the same helpers;
existing ulog_replay tests pass unchanged (byte-identical output on
fixture logs).
ulog_replay_ctx_t gains timeline + cursor fields under
#ifdef __EMSCRIPTEN__ (zero bytes on native); parser / cache / sub_*
fields are gated out under #ifndef __EMSCRIPTEN__ so WASM avoids
~1.3 MB of unused format tables per drone.
Dev harness blocks space-bar page scroll while the canvas is focused
so play/pause works without also scrolling the page.
Build:
emcmake cmake -S wasm -B wasm/build -DCMAKE_BUILD_TYPE=Release
cmake --build wasm/build -j
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Summary
Adds an Emscripten build target so the replay path runs in the browser. Per-message state updates are shared between native and WASM to prevent drift between the two implementations.
Changes
wasm/build target (CMake, shell.html dev harness, entry point, JS API)src/wasm/ULog extractor + flat-timeline replay pathsrc/ulog_replay_apply.{c,h}and called from both targetsprocess_messagerefactored into decode + apply dispatch (byte-identical output per existing tests)ulog_replay_ctx_tgains timeline/cursor fields under#ifdef __EMSCRIPTEN__(zero bytes on native);parser/cache/sub_*fields gated under#ifndef __EMSCRIPTEN__so WASM avoids ~1.3 MB of unused format tables per droneImpact
ulog_replaytest suite passes unchanged.hawkeye.wasm~568 KB.Test plan
make testpasses (7/7)emcmake cmake -S wasm -B wasm/build && cmake --build wasm/build