feat: add support for Node.js environment

package.json

@@ -7,11 +7,17 @@
   "module": "dist/pcl.esm.js",
   "exports": {
     ".": {
-      "import": "./dist/pcl.esm.js",
-      "require": "./dist/pcl.cjs.js",
-      "types": "./dist/pcl.d.ts"
+      "browser": {
+        "import": "./dist/pcl.esm.js",
+        "require": "./dist/pcl.cjs.js"
+      },
+      "node": {
+        "import": "./dist/node/pcl.esm.js",
+        "require": "./dist/node/pcl.cjs.js"
+      }
     },
     "./pcl-core.wasm": "./dist/pcl-core.wasm",
+    "./pcl-core.node.wasm": "./dist/node/pcl-core.wasm",
     "./PointCloudViewer": "./dist/visualization/PointCloudViewer.esm.js"
   },
   "typesVersions": {

rollup.config.js

@@ -29,15 +29,7 @@ ${code}`;
 function replaceCode() {
   return {
     renderChunk(code) {
-      return (
-        code
-          .replace('assert(!flags, flags);', '')
-          // test environment
-          .replace(
-            "ENVIRONMENT_IS_NODE = typeof process == 'object' && typeof process.versions == 'object' && typeof process.versions.node == 'string'",
-            'ENVIRONMENT_IS_NODE = false',
-          )
-      );
+      return code.replace('assert(!flags, flags);', '');
     },
   };
 }
@@ -81,8 +73,8 @@ const commonPlugins = [
   banner(),
 ];
 
-const coreConfig = {
-  input: 'src/core/index.ts',
+const browserCoreConfig = {
+  input: 'src/core/browser.ts',
   output: [
     {
       file: pkg.main,
@@ -130,6 +122,36 @@ const coreConfig = {
   ],
 };
 
+const nodeCoreConfig = {
+  input: 'src/core/node.ts',
+  output: [
+    {
+      file: pkg.exports['.'].node.require,
+      format: 'cjs',
+    },
+    {
+      file: pkg.exports['.'].node.import,
+      format: 'esm',
+    },
+  ],
+  plugins: [
+    ...commonPlugins,
+    replaceCode(),
+    replace(constants),
+    typescript({
+      useTsconfigDeclarationDir: true,
+    }),
+    copy({
+      targets: [
+        {
+          src: 'src/bind/build/pcl-core.node.wasm',
+          dest: 'dist/node',
+        },
+      ],
+    }),
+  ],
+};
+
 const visualizationModules = ['PointCloudViewer'];
 const globals = {
   three: 'THREE',
@@ -178,10 +200,11 @@ const visualizationConfig = visualizationModules.map((name) => {
 });
 
 const config = [
-  coreConfig,
+  browserCoreConfig,
+  nodeCoreConfig,
   ...visualizationConfig,
   {
-    input: './dist/.types/core/index.d.ts',
+    input: './dist/.types/core/browser.d.ts',
     output: [{ file: 'dist/pcl.d.ts', format: 'es' }],
     plugins: collectTypeDefinition('PCL'),
   },

scripts/build.sh

@@ -27,5 +27,6 @@ EMFLAGS=(
 emcmake cmake ${EMFLAGS[@]} ..
 emmake make -j
 
-mkdir -p ${WASM_OUT_DIR}
+mkdir -p ${WASM_OUT_DIR} ${WASM_OUT_DIR}/node
 cp pcl-core.wasm ${WASM_OUT_DIR}
+cp pcl-core.node.wasm ${WASM_OUT_DIR}/node

src/bind/CMakeLists.txt

@@ -1,10 +1,12 @@
 cmake_minimum_required(VERSION 3.22)
 
-# Base
-set(PROJECT_NAME pcl-core)
-project(${PROJECT_NAME})
+project(PCL_BIND_WASM)
 set(CMAKE_CXX_STANDARD 14)
 
+# Base
+set(TARGET_NAME_BROWSER pcl-core)
+set(TARGET_NAME_NODE pcl-core.node)
+
 set(PCL_INCLUDE ${PCL_ROOT}/build/include/pcl-1.12)
 set(BOOST_INCLUDE ${PCL_ROOT}/wasm/deps/boost/build/include)
 set(EIGEN_INCLUDE ${PCL_ROOT}/wasm/deps/eigen)
@@ -25,19 +27,22 @@ foreach(SRC IN LISTS SRCS)
     message(STATUS ${SRC})
 endforeach(SRC)
 
-add_executable(${PROJECT_NAME} ${SRCS})
-target_link_libraries(${PROJECT_NAME} ${PCL_LINK_LIBS} flann_cpp_s boost_filesystem boost_regex boost_system boost_date_time boost_iostreams)
+add_executable(${TARGET_NAME_BROWSER} ${SRCS})
+add_executable(${TARGET_NAME_NODE} ${SRCS})
+target_link_libraries(${TARGET_NAME_BROWSER} ${PCL_LINK_LIBS} flann_cpp_s boost_filesystem boost_regex boost_system boost_date_time boost_iostreams)
+target_link_libraries(${TARGET_NAME_NODE} ${PCL_LINK_LIBS} flann_cpp_s boost_filesystem boost_regex boost_system boost_date_time boost_iostreams)
 
 option(CMAKE_BUILD_TYPE "This is a option for build type" "Debug")
 
 set(INCOMING_MODULE_JS_API "fetchSettings,locateFile,wasmBinary")
-set(COMMON_LINK_FLAGS "-lembind -sSTRICT=1 -sSTRICT_JS=1 -sALLOW_MEMORY_GROWTH=1 -sMODULARIZE=1 -sEXPORT_ES6=1 -sUSE_ES6_IMPORT_META=0 -sEXPORT_NAME=PCLCore -sENVIRONMENT=web,webview,worker -sINCOMING_MODULE_JS_API=${INCOMING_MODULE_JS_API} -sEXPORTED_RUNTIME_METHODS=FS --no-entry -sWASM_BIGINT=1")
+set(BROWSER_ENV_FLAGS "-sENVIRONMENT=web,webview,worker")
+set(NODE_ENV_FLAGS "-sENVIRONMENT=node")
+set(COMMON_LINK_FLAGS "-lembind -sSTRICT=1 -sSTRICT_JS=1 -sALLOW_MEMORY_GROWTH=1 -sMODULARIZE=1 -sEXPORT_ES6=1 -sUSE_ES6_IMPORT_META=0 -sEXPORT_NAME=PCLCore -sINCOMING_MODULE_JS_API=${INCOMING_MODULE_JS_API} -sEXPORTED_RUNTIME_METHODS=FS --no-entry -sWASM_BIGINT=1")
 
 set(EM_LINK_FLAGS "${COMMON_LINK_FLAGS} -g -sLLD_REPORT_UNDEFINED -sVERBOSE=1")
 if (${CMAKE_BUILD_TYPE} STREQUAL "Release")
   set(EM_LINK_FLAGS "${COMMON_LINK_FLAGS} -O3")
 endif()
 
-set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS ${EM_LINK_FLAGS})
-
-install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+set_target_properties(${TARGET_NAME_BROWSER} PROPERTIES LINK_FLAGS "${EM_LINK_FLAGS} ${BROWSER_ENV_FLAGS}")
+set_target_properties(${TARGET_NAME_NODE} PROPERTIES LINK_FLAGS "${EM_LINK_FLAGS} ${NODE_ENV_FLAGS}")

src/core/index.ts → src/core/base.ts

@@ -1,16 +1,13 @@
-import initPCLCore from '@/bind/build/pcl-core';
-import { ENVIRONMENT_IS_NODE } from '@/utils';
 import { Emscripten } from '@/types';
+import { ENVIRONMENT_IS_NODE } from '@/utils';
 
-if (window.__PCLCore__) {
+if (((ENVIRONMENT_IS_NODE ? global : window) as any).__PCLCore__) {
   console.warn('Multiple instances of pcl.js being imported.');
 } else {
-  window.__PCLCore__ = null;
+  ((ENVIRONMENT_IS_NODE ? global : window) as any).__PCLCore__ = null;
 }
 
-let isInitialized = false;
-
-interface InitOptions {
+export interface InitOptions {
   /**
    * ArrayBuffer for pcl-core.wasm file.
    */
@@ -19,6 +16,11 @@ interface InitOptions {
    * URL for pcl-core.wasm file.
    */
   url?: string;
+  /**
+   * path for pcl-core.wasm file.
+   * **Only supported by nodejs environment.**
+   */
+  path?: string;
   /**
    * Override the default settings object used when fetching the Wasm module from the network.
    *
@@ -29,40 +31,6 @@ interface InitOptions {
   onerror?: (error: unknown) => void;
 }
 
-async function init(options?: InitOptions) {
-  const {
-    arrayBuffer,
-    url,
-    fetchOptions: fetchSettings = { credentials: 'same-origin' },
-  } = options ?? {};
-
-  const moduleOptions: Emscripten.ModuleOpts = {
-    wasmBinary: arrayBuffer,
-    locateFile: (path, scriptDirectory) => url || scriptDirectory + path,
-    fetchSettings,
-  };
-
-  try {
-    const __PCLCore__ = await initPCLCore(moduleOptions);
-    if (ENVIRONMENT_IS_NODE) {
-      (global as any).__PCLCore__ = __PCLCore__;
-    } else {
-      window.__PCLCore__ = __PCLCore__;
-    }
-    isInitialized = true;
-    options?.onsuccess?.();
-  } catch (error) {
-    options?.onerror?.(error);
-    throw error;
-  }
-}
-
-function destroy() {
-  window.__PCLCore__ = null;
-  isInitialized = false;
-}
-
-export { InitOptions, init, destroy, isInitialized };
 export * from '@/constants';
 export * as fs from '@/modules/fs';
 export * from '@/modules/common';

src/core/browser.ts

@@ -0,0 +1,36 @@
+import initPCLCore from '@/bind/build/pcl-core';
+import { Emscripten } from '@/types';
+import { InitOptions } from './base';
+
+let isInitialized = false;
+
+async function init(options?: InitOptions) {
+  const {
+    arrayBuffer,
+    url,
+    fetchOptions: fetchSettings = { credentials: 'same-origin' },
+  } = options ?? {};
+
+  const moduleOptions: Emscripten.ModuleOpts = {
+    wasmBinary: arrayBuffer,
+    locateFile: (path, scriptDirectory) => url || scriptDirectory + path,
+    fetchSettings,
+  };
+
+  try {
+    window.__PCLCore__ = await initPCLCore(moduleOptions);
+    isInitialized = true;
+    options?.onsuccess?.();
+  } catch (error) {
+    options?.onerror?.(error);
+    throw error;
+  }
+}
+
+function destroy() {
+  window.__PCLCore__ = null;
+  isInitialized = false;
+}
+
+export { init, destroy, isInitialized, InitOptions };
+export * from './base';

src/core/node.ts

@@ -0,0 +1,49 @@
+import initPCLCore from '@/bind/build/pcl-core.node';
+import { Emscripten } from '@/types';
+import { InitOptions } from './base';
+import https from 'http';
+
+let isInitialized = false;
+
+async function init(options?: InitOptions) {
+  const { arrayBuffer, path, url } = options ?? {};
+
+  let wasmBinary = arrayBuffer;
+  if (url) {
+    wasmBinary = await fetchWASM(url);
+  }
+
+  const moduleOptions: Emscripten.ModuleOpts = {
+    wasmBinary,
+    locateFile: (p, scriptDirectory) => path || scriptDirectory + p,
+  };
+
+  try {
+    (global as any).__PCLCore__ = await initPCLCore(moduleOptions);
+    isInitialized = true;
+    options?.onsuccess?.();
+  } catch (error) {
+    options?.onerror?.(error);
+    throw error;
+  }
+}
+
+function fetchWASM(url: string): Promise<ArrayBuffer> {
+  return new Promise((resolve, reject) => {
+    https
+      .get(url, (res) => {
+        res.on('data', (data) => {
+          resolve(data);
+        });
+      })
+      .on('error', reject);
+  });
+}
+
+function destroy() {
+  (global as any).__PCLCore__ = null;
+  isInitialized = false;
+}
+
+export { init, destroy, isInitialized, InitOptions };
+export * from './base';