Add emscripten-wasm32 support with rmw_zenoh_pico

.github/workflows/diagnose-xeus-python-platform.yml

@@ -0,0 +1,134 @@
+name: Diagnose xeus-python cross-platform build (temporary)
+
+# Throwaway diagnostic workflow, manually triggered only. Investigates
+# whether the "null function or function signature mismatch"
+# indirect-call-table-corruption bug seen when locally recompiling
+# xeus-python on a macOS ARM64 (osx-arm64) host is specific to that build
+# platform -- as opposed to the currently-published, working stock
+# xeus-python-0.19.0 package on the emscripten-forge-4x channel, which was
+# almost certainly built on a Linux x86_64 CI runner. Builds the exact same
+# scratch diagnostic recipe (zero xeus-python source patches, stock
+# xeus/xeus-lite/pyjs-dev/python host deps -- the same "stockdeps-test"
+# config already confirmed to crash when built locally on osx-arm64) on
+# both ubuntu-latest (linux-64) and macos-15 (osx-arm64, matching the local
+# dev machine) for direct comparison, and uploads the resulting
+# xpython.js/xpython.wasm from each as build artifacts.
+#
+# See ~/robot/ros-rolling-emscripten-zenoh/AGENTS.md's "BREAKTHROUGH
+# 2026-09-13" sections (search for "null function" and "toolchain
+# non-determinism") for the full background on why this test exists.
+#
+# Safe to delete this file once the investigation concludes either way.
+
+on:
+  workflow_dispatch:
+  # workflow_dispatch alone can't be triggered via the API/CLI unless the
+  # workflow file also exists on the repo's default branch (a real GitHub
+  # restriction) -- this repo's default branch is a separate, regularly
+  # RoboStack-synced `main`, unrelated to this feature branch's work, so
+  # touching it just for this throwaway diagnostic isn't worth it. A push
+  # trigger scoped to just this branch works instead, without needing
+  # anything on `main`.
+  push:
+    branches:
+      - feature/emscripten-wasm32-zenoh-pico
+    paths:
+      - '.github/workflows/diagnose-xeus-python-platform.yml'
+      - 'scratch_test_recipes/xeus-python-stockdeps/**'
+
+jobs:
+  build-xeus-python-diagnostic:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            platform: linux-64
+          - os: macos-15
+            platform: osx-arm64
+
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - name: Checkout ros-rolling-emscripten-zenoh
+        uses: actions/checkout@v6
+        with:
+          persist-credentials: false
+          fetch-depth: 1
+
+      - uses: prefix-dev/setup-pixi@v0.9.4
+        with:
+          frozen: true
+
+      - name: Checkout emscripten-forge/recipes (for cross-python/compiler/pytester toolchain packages)
+        uses: actions/checkout@v6
+        with:
+          repository: emscripten-forge/recipes
+          path: emscripten_forge_recipes
+          persist-credentials: false
+          fetch-depth: 1
+
+      - name: Build emscripten toolchain packages (compiler, cross-python, pytester)
+        shell: bash -l {0}
+        working-directory: emscripten_forge_recipes
+        run: |
+          pixi run rattler-build build \
+            --package-format tar-bz2 \
+            -c https://repo.prefix.dev/emscripten-forge-4x \
+            -c microsoft \
+            -c conda-forge \
+            --skip-existing all \
+            -m variant.yaml \
+            --recipe recipes/recipes/emscripten_emscripten-wasm32
+          pixi run rattler-build build \
+            --package-format tar-bz2 \
+            -c https://repo.prefix.dev/emscripten-forge-4x \
+            -c microsoft \
+            -c conda-forge \
+            --skip-existing all \
+            -m variant.yaml \
+            --recipe recipes/recipes/cross-python_emscripten-wasm32
+          pixi run rattler-build build \
+            --package-format tar-bz2 \
+            -c https://repo.prefix.dev/emscripten-forge-4x \
+            -c microsoft \
+            -c conda-forge \
+            --skip-existing all \
+            -m variant.yaml \
+            --recipe recipes/recipes/pytester
+
+      - name: Build diagnostic xeus-python (zero patches, stock host deps)
+        shell: bash -l {0}
+        run: |
+          pixi run rattler-build build \
+            --package-format tar-bz2 \
+            -r ./scratch_test_recipes/xeus-python-stockdeps/recipe.yaml \
+            -m ./conda_build_config.yaml \
+            --output-dir ./ci_output \
+            -c https://repo.prefix.dev/conda-forge \
+            -c https://repo.prefix.dev/emscripten-forge-4x \
+            -c "file://${{ github.workspace }}/emscripten_forge_recipes/output" \
+            -c microsoft \
+            -c robostack-staging \
+            --target-platform emscripten-wasm32 \
+            --test skip \
+            --channel-priority disabled
+
+      - name: Extract xpython.js/xpython.wasm for upload
+        shell: bash -l {0}
+        run: |
+          mkdir -p extracted_artifact
+          tar xjf ./ci_output/emscripten-wasm32/xeus-python-stockdeps-test-*.tar.bz2 -C extracted_artifact
+          # also record a sha256 of the wasm binary directly in the log, for
+          # a quick eyeball diff between the two matrix legs without needing
+          # to download both artifacts
+          shasum -a 256 extracted_artifact/bin/xpython.wasm extracted_artifact/bin/xpython.js
+
+      - name: Upload xpython.js/xpython.wasm
+        uses: actions/upload-artifact@v4
+        with:
+          name: xeus-python-diagnostic-${{ matrix.platform }}
+          path: |
+            extracted_artifact/bin/xpython.js
+            extracted_artifact/bin/xpython.wasm
+          retention-days: 7

.gitignore

@@ -5,6 +5,17 @@ recipes_only_patch/
 *.sh
 *.ps1
 *.json
+# The blanket *.sh above is meant for vinca-generated build scripts, but it
+# also silently swallowed extra_recipes/*/build.sh -- hand-written source
+# for the microcdr/zenoh-pico recipes, not generated output. Caught by a
+# real CI run doing a genuinely fresh checkout: neither build.sh ever
+# actually made it into a commit, so build-emscripten failed with
+# "build.sh: command not found" once it reached either recipe.
+!extra_recipes/**/*.sh
+# Same deal: a genuine, hand-written, committed helper script, not
+# generated output -- caught this one myself before it repeated the
+# extra_recipes mistake above (2026-09-10).
+!/sync_native_bootstrap_mirror.sh
 .DS_Store
 # pixi environments
 .pixi

conda_build_config.yaml

@@ -1,14 +1,18 @@
 # Generated by vinca-pinning-render from vinca_pinning.yaml.
 # Do not edit this file directly.
 c_compiler:
-  - gcc                        # [linux]
-  - clang                      # [osx]
-  - vs2022                     # [win]
-# Please remember to update gcc_compiler_version & clang_compiler_version too.
+  - gcc  # [linux]
+  - clang # [osx]
+  - vs2022 # [win]
+  - emscripten # [emscripten]
 c_compiler_version:            # [unix]
-  - 15                           # [linux]
-  - 21                           # [osx]
-  - 14                           # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  - 15  # [linux]
+  - 21 # [osx]
+  - 14 # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+    # Matches emscripten-forge/recipes' variant.yaml c_compiler_version; refresh
+    # alongside cxx_compiler_version and emscripten_emscripten-wasm32 (below) when
+    # emscripten-forge bumps their emscripten SDK version.
+  - 4.0.9 # [emscripten]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
@@ -18,29 +22,47 @@ m2w64_c_stdlib:                # [win]
 m2w64_c_stdlib_version:        # [win]
   - 12                         # [win]
 c_stdlib_version:              # [unix]
-  - 2.28                         # [linux and not riscv64]
-  - 2.39                         # [linux and riscv64]
-  - 2.28                         # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
-  - 14.0                         # [osx]
+  - 2.28  # [linux and not riscv64]
+  - 2.39 # [linux and riscv64]
+  - 2.28 # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  - 14.0 # [osx]
 cxx_compiler:
-  - gxx                        # [linux]
-  - clangxx                    # [osx]
-  - vs2022                     # [win]
-# Please remember to update gxx_compiler_version & clangxx_compiler_version too.
+  - gxx  # [linux]
+  - clangxx # [osx]
+  - vs2022 # [win]
+  - emscripten # [emscripten]
 cxx_compiler_version:          # [unix]
-  - 15                           # [linux]
-  - 21                           # [osx]
-  - 14                           # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  - 15  # [linux]
+  - 21 # [osx]
+  - 14 # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  - 4.0.9 # [emscripten]
+  # emscripten-wasm32 support: vinca's own selector namespace (v1_selectors.py)
+  # treats "unix" as linux OR osx OR emscripten OR wasi OR freebsd OR zos, so the
+  # base conda-forge-pinning zip_keys group -- [c_stdlib_version,
+  # c_compiler_version, cxx_compiler_version, fortran_compiler_version,
+  # cuda_compiler_version], all scoped [unix] -- silently applies to emscripten too,
+  # even though conda-forge itself never builds for that platform. Since emscripten
+  # needs its own compiler but has no Fortran toolchain, no libc sysroot, and no
+  # CUDA, simply adding an emscripten branch to c_compiler_version/
+  # cxx_compiler_version would leave them non-empty while c_stdlib_version/
+  # fortran_compiler_version/cuda_compiler_version stay empty for that platform --
+  # a zip-length mismatch ("Zip key elements do not all have same length"). Fixed
+  # by (1) restricting fortran_compiler_version's selector from [unix] to
+  # [linux or osx] so it no longer nominally covers emscripten, and (2) splitting
+  # zip_keys (below) into a [c_compiler_version, cxx_compiler_version] group
+  # (valid for linux/osx/emscripten alike, always 1 entry each) separate from the
+  # [c_stdlib_version, fortran_compiler_version, cuda_compiler_version] group
+  # (linux/osx only, always 0 entries -- i.e. absent -- on emscripten).
 llvm_openmp:                   # [osx]
   - 21                         # [osx]
 fortran_compiler:              # [unix or win]
   - gfortran                   # [unix]
   - flang                      # [win]
 fortran_compiler_version:      # [unix or win]
-  - 15                           # [unix]
-  - 5                            # [win64]
-  - 22                           # [win and arm64]
-  - 14                           # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  - 15  # [linux or osx]
+  - 5 # [win64]
+  - 22 # [win and arm64]
+  - 14 # [linux and (x86_64 or aarch64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
 m2w64_c_compiler:                 # [win]
   - gcc                           # [win]
 m2w64_c_compiler_version:         # [win]
@@ -80,7 +102,7 @@ cuda_compiler:
   - cuda-nvcc
 cuda_compiler_version:
   - None
-  - 12.9                         # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
+  - 12.9  # [((linux and (x86_64 or aarch64)) or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
 cuda_compiler_version_min:
   - None                       # [not ((linux and (x86_64 or aarch64)) or win64)]
   - 12.9                       # [((linux and (x86_64 or aarch64)) or win64)]
@@ -169,23 +191,11 @@ docker_image:                                       # [os.environ.get("BUILD_PLA
   - quay.io/condaforge/linux-anvil-ppc64le:alma10   # [os.environ.get("BUILD_PLATFORM") == "linux-ppc64le" and os.environ.get("DEFAULT_LINUX_VERSION", "alma10") == "alma10"]
 
 zip_keys:
-                                # [unix]
-  -   - c_compiler_version      # [unix]
-      - cxx_compiler_version    # [unix]
-      - fortran_compiler_version # [unix]
-    # CUDA 13.x requires newer glibc than our current baseline
-      - c_stdlib_version        # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
-      - cuda_compiler_version   # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
-  -   - python
-      - is_python_min
-  -   - libarrow
-      - libarrow_all
-  -   - root_base
-      - root_cxx_standard
-
-# armv7l specifics because conda-build sets many things to centos 6
-# this can probably be removed when conda-build gets updated defaults
-# for aarch64
+  -   - c_compiler_version
+      - cxx_compiler_version
+  -   - c_stdlib_version         # [linux or osx]
+      - fortran_compiler_version # [linux or osx]
+      - cuda_compiler_version    # [linux or osx]
 cdt_arch: armv7l                          # [armv7l]
 BUILD: armv7-conda_cos7-linux-gnueabihf   # [armv7l]
 
@@ -433,16 +443,8 @@ googleapis_cpp:
 gpgme:
   - '1.24'
 graphviz:
-  - '14'
-# Harfbuzz guarantees total ABI compatibiblity
-# The first version to have this new ABI pin is 11.0.1
-# https://github.com/conda-forge/harfbuzz-feedstock/pull/125
-# But as of 2025/08/03, 11.0.1 is quite "old" and it is pretty safe
-# to release the pin
-# We are leaving this comment here to discourage others from adding
-# a harfbuzz global pin, as it is not needed.
-# harfbuzz:
-# - '11'
+  - 15.1.0  # [emscripten]
+  - '14' # [not emscripten]
 hepmc2:
   - '2.06'
 hepmc3:
@@ -568,7 +570,8 @@ libevent:
 libexactreal:
   - '4'
 libffi:
-  - '3.5'
+  - 3.4.6  # [emscripten]
+  - '3.5' # [not emscripten]
 libflac:
   - '1.5'
 libflatsurf:
@@ -976,10 +979,15 @@ pythia8:
 python:
   # conda-forge supports only 3.14+ for win-arm64 and linux-riscv64
   # part of a zip_keys: python, is_python_min
-  - 3.14.* *_cp314
+  - 3.13.* *_cp313  # [emscripten]
+  - 3.14.* *_cp314 # [not emscripten]
 python_impl:
-  - cpython
-
+  - cpython  # Needed for cross-compiled targets: emitted whenever a recipe's
+  # `packages_select_by_deps`/host deps expand `cross-python_${{ target_platform }}`
+  # with target_platform == emscripten-wasm32. Not a conda-forge-pinning key at
+  # all (conda-forge doesn't cross-compile to emscripten), so it must be added
+  # here rather than merely overridden. Matches emscripten-forge/recipes'
+  # variant.yaml.
 python_min:
   # minimum supported python version per CFEP-25
   # bump to next minor version when we drop python versions
@@ -989,7 +997,8 @@ is_freethreading:
   - false
 is_python_min:
   # part of a zip_keys: python, is_python_min
-  - false
+  - false  # [emscripten]
+  - false # [not emscripten]
 is_abi3:
   - true
 pytorch:
@@ -1170,11 +1179,15 @@ zstd:
 libzenohc:
   - 1.9.0
 libzenohcxx:
-  - 1.9.0
-  # conda-forge published sip 6.16.1 on 2026-09-08, which broke ABI targeting for
-  # packages like qt_gui_cpp_sip that build against PyQt-sip's fixed ABI v12
-  # (hit this on humble/jazzy first; rolling also builds qt_gui_cpp via
-  # pyqt6/sip so it's equally exposed). Pin back to the last known-good line
-  # until upstream fixes it.
+  - 1.9.0  # emscripten-forge/recipes only publishes graphviz 15.1.0 -- our regular
+  # graphviz pin (from conda-forge-pinning) has no candidates there. Keep the
+  # base '14' pin for every other platform (if/then replaces the whole list,
+  # so the non-emscripten branch must be spelled out too).
 sip:
   - 6.15
+cross-python_emscripten-wasm32:
+  - 3.13.1  # The emscripten SDK/toolchain package version itself, keyed by vinca's
+  # `<pkgname>_<target_platform>` convention for cross-compilation toolchain
+  # packages. Keep in sync with c_compiler_version/cxx_compiler_version above.
+emscripten_emscripten-wasm32:
+  - 4.0.9