Enable real pthreads for emscripten-wasm32 builds

vinca/pinning.py

@@ -219,11 +219,69 @@ def _migration_name(name: str) -> str:
  return name
 
 
+def _existing_eol_comment_text(source: Any, index: int) -> Optional[str]:
+ """Return the plain text of a CommentedSeq item's trailing EOL comment, if any."""
+ ca = getattr(source, "ca", None)
+ if ca is None:
+ return None
+ entry = ca.items.get(index)
+ if not entry:
+ return None
+ token = entry[0]
+ if token is None:
+ return None
+ return str(token.value).lstrip("#").strip()
+
+
+def _flatten_v1_selectors(value: Any) -> Any:
+ """Convert v1-style `- if: COND then: [...]` list entries into the legacy
+ `- VALUE # [COND]` comment-annotated form that rattler-build's variant
+ config loader actually evaluates lazily per target_platform (unlike the
+ v1 if/then/else mapping form, which it treats as an opaque literal value
+ rather than a selector -- confirmed via `Could not parse version spec
+ for variant key ...: invalid channel` / `multiple bracket sections not
+ allowed` errors when left unconverted).
+
+ Passthrough items (plain scalars, possibly already carrying their own
+ `# [selector]` EOL comment) must have that existing comment re-attached
+ at their new index -- ruamel stores comments keyed by list position on
+ the *source* CommentedSeq, not on the item itself, so a naive
+ `result.append(item)` into a freshly created CommentedSeq silently
+ drops it, turning a platform-scoped entry into an unconditional one.
+ """
+ if not isinstance(value, list):
+ return value
+ import ruamel.yaml.comments as _rc
+
+ result = _rc.CommentedSeq()
+ for old_index, item in enumerate(value):
+ if isinstance(item, Mapping) and "if" in item and "then" in item:
+ cond = str(item["if"])
+ for entry in item["then"]:
+ idx = len(result)
+ result.append(entry)
+ result.yaml_add_eol_comment(f"[{cond}]", idx)
+ else_branch = item.get("else")
+ if else_branch is not None:
+ not_cond = f"not ({cond})"
+ for entry in else_branch:
+ idx = len(result)
+ result.append(entry)
+ result.yaml_add_eol_comment(f"[{not_cond}]", idx)
+ else:
+ idx = len(result)
+ result.append(item)
+ comment_text = _existing_eol_comment_text(value, old_index)
+ if comment_text:
+ result.yaml_add_eol_comment(comment_text, idx)
+ return result
+
+
 def _overlay(target: Any, source: Any) -> None:
  for key, value in source.items():
  if key == "migrator_ts" or str(key).startswith("__"):
  continue
- target[key] = value
+ target[key] = _flatten_v1_selectors(value)
 
 
 def _migration_timestamp(payload: bytes) -> float:

vinca/templates/build_ament_cmake.sh.in

@@ -69,20 +69,52 @@ if [[ $target_platform =~ emscripten.* ]]; then
  echo "set(CMAKE_STRIP FALSE) # used by default in pybind11 on .so modules">> $SRC_DIR/__vinca_shared_lib_patch.cmake
  echo "set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH) # fixes an error where numpy header files are not found correctly">> $SRC_DIR/__vinca_shared_lib_patch.cmake
 
- # if [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-publisher" ] || [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-subscriber" ] || [ "${PKG_NAME}" == "ros-humble-rclcpp-components" ]; then
- # echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
- # echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
- # echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -sALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
- # else
- echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
- echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
- echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -sALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
- # fi
+ # Real pthreads (USE_PTHREADS=1) are required so that blocking waits
+ # (std::condition_variable / rmw wait sets) actually work: without a real
+ # OS-level thread, libc++'s condition_variable timed-wait never wakes up
+ # on its own, and code that spins/blocks the main thread (e.g. rclcpp's
+ # executor) hangs forever with no way for the browser's JS event loop
+ # (and thus wall-clock time) to ever advance underneath it. This must be
+ # consistent across every emscripten-wasm32 package: mixing a
+ # pthread-enabled module with a non-pthread one is a hard ABI-level
+ # mismatch ("memory import shared state mismatch") since a wasm module's
+ # shared-vs-non-shared linear memory is fixed at compile+link time.
+ #
+ # This flag has to be set at COMPILE time too (not just link time) for
+ # every translation unit -- it bakes in the wasm 'atomics'/'bulk-memory'
+ # features that the linker later requires when producing shared memory
+ # ("wasm-ld: error: --shared-memory is disallowed ... because it was not
+ # compiled with 'atomics' or 'bulk-memory' features"). add_compile_options
+ # here (via CMAKE_PROJECT_INCLUDE, included right after every project()
+ # call) applies it to every target compiled in every package.
+ echo "add_compile_options(\"SHELL: -s USE_PTHREADS=1\")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
+
+ echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
+ echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
+ # CMake's MODULE library type (add_library(... MODULE), what
+ # pybind11_add_module() uses for Python C extensions e.g. rclpy's
+ # _rclpy_pybind11) is a distinct target type from SHARED and reads its
+ # own CMAKE_SHARED_MODULE_CREATE_*_FLAGS variables -- setting only the
+ # SHARED ones above left every MODULE-type .so linked without
+ # USE_PTHREADS=1, producing a non-shared-memory module that fails to
+ # load ("mismatch in shared state of memory") next to the rest of a
+ # pthreads build, even though its own object files were compiled with
+ # atomics support and looked fine individually.
+ echo "set(CMAKE_SHARED_MODULE_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
+ echo "set(CMAKE_SHARED_MODULE_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
+ # PTHREAD_POOL_SIZE and MAXIMUM_MEMORY are only meaningful on the final
+ # MAIN_MODULE executable link (they configure the Worker pool and the
+ # shared SharedArrayBuffer's reserved size respectively -- side modules
+ # don't have memory of their own, they use the main module's). Emscripten
+ # requires MAXIMUM_MEMORY to be set explicitly whenever
+ # ALLOW_MEMORY_GROWTH is combined with USE_PTHREADS, since a shared
+ # wasm memory's maximum size can't be left unbounded.
+ echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=1 -s PTHREAD_POOL_SIZE=4 -sALLOW_MEMORY_GROWTH=1 -s MAXIMUM_MEMORY=1024MB -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
 
  export BUILD_TYPE="Debug"
  export EXTRA_CMAKE_ARGS=" \
  -DPYTHON_SOABI="cpython-${ROS_PYTHON_VERSION//./}-wasm32-emscripten" \
- -DRMW_IMPLEMENTATION=rmw_wasm_cpp \
+ -DRMW_IMPLEMENTATION=${VINCA_EMSCRIPTEN_RMW_IMPLEMENTATION:-rmw_wasm_cpp} \
  -DCMAKE_FIND_ROOT_PATH=$PREFIX \
  -DCMAKE_POSITION_INDEPENDENT_CODE=TRUE \
  -DCMAKE_PROJECT_INCLUDE=$SRC_DIR/__vinca_shared_lib_patch.cmake \
@@ -92,8 +124,8 @@ if [[ $target_platform =~ emscripten.* ]]; then
  export CMAKE_GEN="emcmake cmake"
  export CMAKE_BLD="cmake"
 
- export STATIC_ROSIDL_TYPESUPPORT_C=rosidl_typesupport_introspection_c
- export STATIC_ROSIDL_TYPESUPPORT_CPP=rosidl_typesupport_introspection_cpp
+ export STATIC_ROSIDL_TYPESUPPORT_C=${VINCA_EMSCRIPTEN_STATIC_TYPESUPPORT_C:-rosidl_typesupport_introspection_c}
+ export STATIC_ROSIDL_TYPESUPPORT_CPP=${VINCA_EMSCRIPTEN_STATIC_TYPESUPPORT_CPP:-rosidl_typesupport_introspection_cpp}
 else
  export BUILD_TYPE="Release"
  export CMAKE_GEN="cmake"