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ci: add Emscripten WASM build job to CI workflow #113

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5cacdf5
feat: add Emscripten WASM bindings with Embind
jdsika May 20, 2026
b0ef63a
ci: add Emscripten WASM build job
jdsika May 20, 2026
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23 changes: 22 additions & 1 deletion .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -44,4 +44,25 @@ jobs:
- name: test
run: ctest --test-dir build --output-on-failure
- name: install
run: cmake --install build --config Release
run: cmake --install build --config Release
build-wasm:
name: emscripten-wasm
runs-on: ubuntu-22.04
defaults:
run:
shell: bash -e -o pipefail {0}
steps:
- name: checkout repository
uses: actions/checkout@v4
- name: setup emsdk
uses: mymindstorm/setup-emsdk@v14
with:
version: 3.1.61
- name: configure
run: emcmake cmake -S . -B build-wasm -DOPENDRIVE_BUILD_WASM=ON -G Ninja
- name: build
run: cmake --build build-wasm
- name: verify artifacts
run: |
test -f build-wasm/libOpenDRIVE.js
test -f build-wasm/libOpenDRIVE.wasm
25 changes: 25 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -7,6 +7,7 @@ include(GNUInstallDirs)
include(CMakePackageConfigHelpers)

option(OPENDRIVE_BUILD_TESTS "Build OpenDrive tests" OFF)
option(OPENDRIVE_BUILD_WASM "Build Emscripten WASM bindings" OFF)

find_package(pugixml QUIET CONFIG)
if(NOT TARGET pugixml::pugixml)
Expand Down Expand Up @@ -121,3 +122,27 @@ install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/OpenDriveConfigVersion.cmake"
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/OpenDrive
)

# ─── Emscripten WASM bindings ─────────────────────────────────────────────────
if(OPENDRIVE_BUILD_WASM OR EMSCRIPTEN)
add_executable(libOpenDRIVE ${SOURCES} src/Embind.cpp)
set_target_properties(libOpenDRIVE PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED ON
SUFFIX ".js"
)
target_include_directories(libOpenDRIVE PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/include
)
target_link_libraries(libOpenDRIVE PRIVATE pugixml::pugixml)
target_link_options(libOpenDRIVE PRIVATE
--bind
-sENVIRONMENT=web,worker
-sMODULARIZE=1
-sEXPORT_ES6=1
-sALLOW_MEMORY_GROWTH=1
-sFILESYSTEM=1
-sWASM=1
-O2
)
endif()
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