第5讲：建立自己的C函数库，js调用自己写的C/C++函数，并包含依赖C/C++第三方静态库。

在javascript中，Array有很多内置的功能，比如Array.map，Array.filter，Array.find等等，能用内置的功能就用内置的功能，最好不要自己实现一套，因为底层调用的可能压根就不是js语言本身，底层的实现可能由C/C++实现的。如果我们要做的一些功能，需要高性能密集计算，但是JavaScript内置函数无法满足我们要求的时候，这时候我们就要自己用C/C++编写一个程序，然后封装成wasm文件给JavaScript调用了，此时wasm还包含了.a文件这样的第三方库。

我们这里有个需求，就是在地球上有两艘船，船A和船B在某个经纬度位置触发，以某个航向、速度行驶，求它们间最小距离是多少，达到最小距离的时候，经过时间是多少秒？
首先这个功能用C/C++来编写，并且还要用到开源第三方库。
下图的红圈注释里面有几个参数，分别表示经度、纬度、速度、航向，当然getCPA最后一个参数6.5表示6.5分钟的时间长度。表示计算6.5分钟以内，两船最小距离是多少，并且到达最小距离时，经过时间是多少。

打开Visual Studio 2022，新建一个cmake工程，项目名称为GeoCompute。这仅仅是一个测试项目，如果测试通过，没有问题了，就把该代码交给emcc或者em++去编译。
CMakeLists.txt文件内容如下：
在这里，我采用vcpkg来安装GeographicLib库
可以执行如下命令安装。

vcpkg install GeographicLib:x64-windows

# CMakeList.txt: GeoCompute 的 CMake 项目，在此处包括源代码并定义
# 项目特定的逻辑。
#
cmake_minimum_required (VERSION 3.8)
set(VCPKG_ROOT "D:/CppPkg/WinVcpkg/vcpkg" CACHE PATH "")
set(CMAKE_TOOLCHAIN_FILE "${VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake")
# Enable Hot Reload for MSVC compilers if supported.
if (POLICY CMP0141)
  cmake_policy(SET CMP0141 NEW)
  set(CMAKE_MSVC_DEBUG_INFORMATION_FORMAT "$<IF:$<AND:$<C_COMPILER_ID:MSVC>,$<CXX_COMPILER_ID:MSVC>>,$<$<CONFIG:Debug,RelWithDebInfo>:EditAndContinue>,$<$<CONFIG:Debug,RelWithDebInfo>:ProgramDatabase>>")
endif()

project ("GeoCompute")

# 将源代码添加到此项目的可执行文件。
add_executable (GeoCompute "GeoCompute.cpp"  )


find_package (GeographicLib CONFIG REQUIRED)
target_link_libraries (GeoCompute PRIVATE ${GeographicLib_LIBRARIES})

if (CMAKE_VERSION VERSION_GREATER 3.12)
  set_property(TARGET GeoCompute PROPERTY CXX_STANDARD 20)
endif()

# TODO: 如有需要，请添加测试并安装目标。

然后编写一个GeoCompute.cpp文件

#include <iostream>
#include <GeographicLib/Geodesic.hpp>
#include <GeographicLib/Constants.hpp>
#include <cmath>
#include <vector>

const double EARTH_RADIUS = 6377830.0;  // 地球的平均半径，单位为千米
const double M_PI = 3.14159265359;

struct LatLon {
    double first;
    double second;
};

double deg2rad(double deg) {
    return deg * M_PI / 180.0;
}

double haversine_distance(double lat1, double lon1, double lat2, double lon2) {
    double dlat = deg2rad(lat2 - lat1);
    double dlon = deg2rad(lon2 - lon1);

    double a = std::sin(dlat / 2) * std::sin(dlat / 2) +
        std::cos(deg2rad(lat1)) * std::cos(deg2rad(lat2)) *
        std::sin(dlon / 2) * std::sin(dlon / 2);

    double c = 2 * std::atan2(std::sqrt(a), std::sqrt(1 - a));

    return EARTH_RADIUS * c;
}

LatLon new_position_with_geolib(double lat, double lon, double speed, double cog, double T) {
    const GeographicLib::Geodesic& geod = GeographicLib::Geodesic::WGS84();

    double s12 = speed * T;
    double lat2, lon2;

    // Direct method gives the destination point given start point, initial azimuth, and distance
    geod.Direct(lat, lon, cog, s12, lat2, lon2);
    return { lat2, lon2 };
}

double new_distance(double T, double latA, double lonA, double speedA, double cogA, double latB, double lonB, double speedB, double cogB) {
    auto resA = new_position_with_geolib(latA, lonA, speedA, cogA, T);
    auto resB = new_position_with_geolib(latB, lonB, speedB, cogB, T);
    return haversine_distance(resA.first, resA.second, resB.first, resB.second);
}

LatLon getCPA(double latA, double lonA, double speedA, double cogA, double latB, double lonB, double speedB, double cogB, double tcpa) {
    double RES_TCPA = INFINITY;
    double RES_DCPA = INFINITY;
    double prev_dist = INFINITY;
    double cur_dist = INFINITY;
    std::vector<int> status;
    int t_lim = tcpa * 60;
    int step = 1;
    if (t_lim > 600) {
        step = int(double(t_lim) / 300.0);
    }
    for (int t = 0;t < t_lim; t += step) {
        prev_dist = new_distance(t, latA, lonA, speedA, cogA, latB, lonB, speedB, cogB);
        cur_dist = new_distance(t + step, latA, lonA, speedA, cogA, latB, lonB, speedB, cogB);
        if (prev_dist < RES_DCPA) {
            RES_DCPA = prev_dist;
        }
        if (cur_dist - prev_dist <= 0) {
            if (status.size() == 0) {
                status.emplace_back(-1);
            }
        }
        else {
            if (status.size() == 0) {
                status.emplace_back(1);
                break;
            }
            else {
                if (status[0] == -1) {
                    status.emplace_back(1);
                }
            }
        }
        if (status.size() == 2 && status[0] == -1 && status[1] == 1) {
            RES_TCPA = t;
            break;
        }
    }
    return { RES_TCPA, RES_DCPA };
}

//1.  一开始距离就变大
// 2. 从0时刻到指定tcpa一直减小
// 3. 从0时刻到指定tcpa，先减小后增大
int main() {
    double lat = 40, lon = 100, speed = 10, cog = 45, T = 3600;
    auto result = new_position_with_geolib(lat, lon, speed, cog, T);
    std::cout << "New Latitude: " << result.first << ", New Longitude: " << result.second << std::endl;
    /*
    latA, lonA, speedA, cogA = 21.3058, 109.1014, 15.12, 187.13
    latB, lonB, speedB, cogB = 21.288205, 109.118725, 3.909777, 254.42
    */
    int i = 0;
    while (true) {
        // 先减小后增大
        auto res_ = getCPA(21.3058, 109.1014, 15.12, 187.13, 21.288205, 109.118725, 3.909777, 254.42, 6.5);
        //auto res_ = getCPA(22.3058, 108.1014, 15.12, 187.13, 21.288205, 109.118725, 3.909777, 254.42, 6.0);
        //auto res_ = getCPA(0.0, 0.0, 15.12, 225.0, 0.0000001, 0.0000001, 3.909777, 45.0, 6.0);
        std::cout << res_.first << " --- " << res_.second << std::endl;
        i++;
        printf("%d\n", i);
    }

    return 0;
}

好了，如果代码测试完成了。现在我们创建一个cmake工程，项目名为EmscriptenTest，这是用来生成wasm文件和js文件来给JavaScript调用的。

由于JavaScript运行在浏览器，不能直接支持windows的lib静态库，所以想办法得到.a库。
首先从github拉取geographiclib库的源码

 git clone https://github.com/geographiclib/geographiclib.git

然后进入到根目录：

cd geographiclib

最后用emcmake和emmake命令编译代码（前提是要安装emsdk：官网有教程说明：https://emscripten.org/docs/getting_started/downloads.html）

emcmake cmake .

emmake make

编译完成之后：

转到目录geographiclib/src
找到libGeographicLib.a文件，然后把该文件拷贝到EmscriptenTest项目的lib目录下（如果没有lib目录则自己新建）

然后是CMakeLists.txt文件：

# CMakeList.txt: EmscriptenTest 的 CMake 项目，在此处包括源代码并定义
# 项目特定的逻辑。
#
cmake_minimum_required (VERSION 3.8)
set(CMAKE_TOOLCHAIN_FILE "D:/CppPkg/emsdk/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake")
# 手动设置GeographicLib的路径
set(GEOGRAPHICLIB_INCLUDE_DIR "/path/to/vcpkg/installed/x64-windows/include")
#set(GEOGRAPHICLIB_LIB_DIR "/path/to/vcpkg/installed/x64-windows/lib")
set(GEOGRAPHICLIB_LIB_DIR "填写你的EmscriptenTest/lib目录的绝对路径")

# Enable Hot Reload for MSVC compilers if supported.
if (POLICY CMP0141)
  cmake_policy(SET CMP0141 NEW)
  set(CMAKE_MSVC_DEBUG_INFORMATION_FORMAT "$<IF:$<AND:$<C_COMPILER_ID:MSVC>,$<CXX_COMPILER_ID:MSVC>>,$<$<CONFIG:Debug,RelWithDebInfo>:EditAndContinue>,$<$<CONFIG:Debug,RelWithDebInfo>:ProgramDatabase>>")
endif()

project ("EmscriptenTest")

# 将源代码添加到此项目的可执行文件。
add_executable (EmscriptenTest "GeoCompute.cpp")

include_directories(D:/CppPkg/WinVcpkg/vcpkg/installed/x64-windows/include )
target_link_libraries(EmscriptenTest ${GEOGRAPHICLIB_LIB_DIR}/libGeographicLib.a)

add_library(GeoCompute STATIC GeoCompute.cpp)
set_target_properties(GeoCompute PROPERTIES SUFFIX ".wasm")
set_target_properties(GeoCompute PROPERTIES LINK_FLAGS "--bind -s WASM=1 -s MODULARIZE=1 -s EXPORT_NAME='GeoComputeModule' -s EXPORTED_FUNCTIONS='[\"getCPA\"]'")


if (CMAKE_VERSION VERSION_GREATER 3.12)
  set_property(TARGET EmscriptenTest PROPERTY CXX_STANDARD 20)
endif()

# TODO: 如有需要，请添加测试并安装目标。

这个EmscriptenTest.cpp没什么用，里面写个main函数，直接return 0;就完事儿了。
在项目根目录下新建GeoCompute.cpp文件
GeoCompute.cpp文件的内容：
可能会提示报错，但是如果点击重新生成，生成成功的话，是没事儿的。
在这个文件中，我修改了getCPA函数的返回类型为double* ， 因为直接返回TDCPA结构体，JavaScript是无法识别的，一定要返回一个指针。

#include <iostream>
#include <GeographicLib/Geodesic.hpp>
#include <GeographicLib/Constants.hpp>
#include <cmath>
#include <vector>
#include <emscripten/emscripten.h>
const double EARTH_RADIUS = 6377830.0;  // 地球的平均半径，单位为千米
const double _M_PI = 3.14159265359;

struct LatLon {
    double lat;
    double lon;
};

struct TDCPA {
    double res_tcpa;
    double res_dcpa;
};

extern "C" {
    EMSCRIPTEN_KEEPALIVE
    double deg2rad(double deg) {
        return deg * _M_PI / 180.0;
    }
    EMSCRIPTEN_KEEPALIVE
    double haversine_distance(double lat1, double lon1, double lat2, double lon2) {
        double dlat = deg2rad(lat2 - lat1);
        double dlon = deg2rad(lon2 - lon1);

        double a = std::sin(dlat / 2) * std::sin(dlat / 2) +
            std::cos(deg2rad(lat1)) * std::cos(deg2rad(lat2)) *
            std::sin(dlon / 2) * std::sin(dlon / 2);

        double c = 2 * std::atan2(std::sqrt(a), std::sqrt(1 - a));

        return EARTH_RADIUS * c;
    }
    EMSCRIPTEN_KEEPALIVE
    LatLon new_position_with_geolib(double lat, double lon, double speed, double cog, double T) {
        const GeographicLib::Geodesic& geod = GeographicLib::Geodesic::WGS84();

        double s12 = speed * T;
        double lat2, lon2;

        // Direct method gives the destination point given start point, initial azimuth, and distance
        geod.Direct(lat, lon, cog, s12, lat2, lon2);
        return { lat2, lon2 };
    }
    EMSCRIPTEN_KEEPALIVE
    double new_distance(double T, double latA, double lonA, double speedA, double cogA, double latB, double lonB, double speedB, double cogB) {
        auto resA = new_position_with_geolib(latA, lonA, speedA, cogA, T);
        auto resB = new_position_with_geolib(latB, lonB, speedB, cogB, T);
        return haversine_distance(resA.lat, resA.lon, resB.lat, resB.lon);
    }

    EMSCRIPTEN_KEEPALIVE
    double* getCPA(double latA, double lonA, double speedA, double cogA, double latB, double lonB, double speedB, double cogB, double tcpa) {
        double RES_TCPA = INFINITY;
        double RES_DCPA = INFINITY;
        double prev_dist = INFINITY;
        double cur_dist = INFINITY;
        double* tdcpaPtr = new double[2];
        std::vector<int> status;
        int t_lim = tcpa * 60;
        int step = 1;
        if (t_lim > 600) {
            step = int(double(t_lim) / 300.0);
        }
        for (int t = 0; t < t_lim; t += step) {
            prev_dist = new_distance(t, latA, lonA, speedA, cogA, latB, lonB, speedB, cogB);
            cur_dist = new_distance(t + step, latA, lonA, speedA, cogA, latB, lonB, speedB, cogB);
            if (prev_dist < RES_DCPA) {
                RES_DCPA = prev_dist;
            }
            if (cur_dist - prev_dist <= 0) {
                if (status.size() == 0) {
                    status.emplace_back(-1);
                }
            }
            else {
                if (status.size() == 0) {
                    status.emplace_back(1);
                    break;
                }
                else {
                    if (status[0] == -1) {
                        status.emplace_back(1);
                    }
                }
            }
            if (status.size() == 2 && status[0] == -1 && status[1] == 1) {
                RES_TCPA = t;
                break;
            }
        }
        tdcpaPtr[0] = RES_TCPA;
        tdcpaPtr[1] = RES_DCPA;
        return tdcpaPtr;
    }
    
	EMSCRIPTEN_KEEPALIVE
    void deleteTDCPA(double* tdcpaPtr) {
        delete[] tdcpaPtr;
    }

}

好了，现在就测试全部重新生成。如果没有报错，则通过测试。通过测试之后。证明可以大胆使用em++命令直接编译GeoCompute.cpp为wasm文件了。

打开cmd进入到EmscriptenTest工程根目录。

em++ GeoCompute.cpp -O1 -o libGeoCompute.js -s WASM=1 -s MODULARIZE=1 -s EXPORT_NAME="GeoComputeModule" -s "EXPORTED_FUNCTIONS=['_deg2rad', '_haversine_distance', '_new_position_with_geolib', '_new_distance', '_getCPA','_deleteTDCPA']" -s "EXPORTED_RUNTIME_METHODS=['ccall', 'cwrap']" -I D:/CppPkg/WinVcpkg/vcpkg/installed/x64-windows/include -L D:/HighPerformanceProjects/CppProjects/EmscriptenTest/lib -lGeographicLib

我这里导出了所有的函数，函数前面要加上下划线。但是在cmakelists.txt中不需要加下划线。
执行完成命令之后，会生成libGeoCompute.js和libGeoCompute.wasm文件。

现在可以使用npm创建一个原生的JavaScript项目。
这是工程目录结构：

最重要是main.js的写法：

// 加载 WebAssembly 模块

// const fs = require('fs');
// const { promisify } = require('util');
// const { instantiate } = require('node:vm');
// const readFileAsync = promisify(fs.readFile);
// async function main() {
//   try {
//     // 读取 libutil.wasm 文件
//     const wasmBuffer = await readFileAsync('libGeoCompute.wasm');
//     // const Module = require('./libGeoCompute.js'); 
//     // 实例化 WebAssembly 模块
//     // const { instance } = await WebAssembly.instantiate(wasmBuffer, {});
//     // 调用导出的 C++ 函数
//     // const resultAdd = instance.exports.add(4, 7);
//     // console.log("Addition result:", resultAdd);
//     // const resultSub = instance.exports.sub(10, 5);
//     // console.log("Subtraction result:", resultSub);
//     //const result = instance.exports.JsGetCPA(21.3058, 109.1014, 15.12, 187.13, 21.288205, 109.118725, 3.909777, 254.42, 6.5);
//   } catch (error) {
//     console.error('Error:', error);
//   }
// }
// main();

const fs = require('fs');
const path = require('path');

// 加载 Emscripten 生成的模块
const Module = require('./libGeoCompute.js');

async function main() {
  try {
    const instance = await Module({
      locateFile: (filename) => path.join(__dirname, filename),
    });

    console.log('Module instance:', instance);
    console.log(typeof instance.cwrap)

    // 使用 cwrap 包装 getCPA 函数
    const getCPA = instance.cwrap('getCPA', 'number', [
      'number', 'number', 'number', 'number', 'number', 'number', 'number', 'number', 'number'
    ]);
    const deleteTDCPA = instance.cwrap('deleteTDCPA', null, ['number']);

    console.log(typeof getCPA)
    // 调用导出的 getCPA 函数
    const resultPtr = getCPA(21.3058, 109.1014, 15.12, 187.13, 21.288205, 109.118725, 3.909777, 254.42, 6.5);
      
    console.log(typeof resultPtr)
    // 解析返回值（假设返回指向结构体的指针）
    const res_tcpa = instance.HEAPF64[resultPtr >> 3]; // 读取res_tcpa值
    const res_dcpa = instance.HEAPF64[(resultPtr >> 3) + 1]; // 读取res_dcpa值 (假设double占8个字节)

    console.log('TCPA:', res_tcpa);
    console.log('DCPA:', res_dcpa);

    console.log('Continuing after runtime initialization.');

    // 不要忘记释放内存，否则会内存泄漏
    deleteTDCPA(resultPtr);
    console.log('release memory resultPtr.')

    // 继续下面的逻辑...
  } catch (error) {
    console.error('Error:', error);
  }
}

main();

index.html的内容：

<!DOCTYPE html>
<html lang="en">
<head>
  <meta charset="UTF-8">
  <meta name="viewport" content="width=device-width, initial-scale=1.0">
  <title>Blank Window</title>
</head>
<body>
  <!-- 这里可以添加窗体的内容 -->
</body>
</html>

package.json的内容：

{
  "name": "nodedevtest",
  "version": "1.0.0",
  "description": "A minimal Electron application",
  "main": "main.js",
  "scripts": {
    "start": "node main.js"
  },
  "keywords": [],
  "author": "",
  "license": "ISC",
  "dependencies": {
    "axios": "^1.6.8",
    "electron": "^30.0.1",
    "pixi.js": "^8.1.0",
    "request": "^2.88.2"
  }
}

得出的结果：

得出的结果是154和1519.5687501879786
表示经过154秒以后，两船达到最小距离，并且最小距离为1519米多。