Add WebAssembly version with JavaScript bindings

.github/workflows/build_wasm.yml

@@ -0,0 +1,35 @@
+---
+name: Build WebAssembly
+
+on: [push, pull_request]
+
+jobs:
+  linux:
+    strategy:
+      fail-fast: false
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - run: |
+          git clone https://github.com/emscripten-core/emsdk.git
+          cd emsdk 
+          ./emsdk install latest
+          ./emsdk activate latest 
+          source ./emsdk_env.sh
+          cd ..
+          make wasm
+
+  mac:
+    strategy:
+      fail-fast: false
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v4
+      - run: |
+          git clone https://github.com/emscripten-core/emsdk.git
+          cd emsdk 
+          ./emsdk install latest
+          ./emsdk activate latest 
+          source ./emsdk_env.sh
+          cd ..
+          make wasm

.github/workflows/docs.yml

@@ -19,6 +19,17 @@ jobs:
       - name: Install Python dependencies
         run: |
           pip install sphinx sphinx-rtd-theme breathe docutils
+      - name: Build wasm
+        run: |
+          git clone https://github.com/emscripten-core/emsdk.git
+          cd emsdk 
+          ./emsdk install latest
+          ./emsdk activate latest 
+          source ./emsdk_env.sh
+          cd ..
+          make wasm
+          cp out/scs.js docs/src/_static/
+          cp out/scs.wasm docs/src/_static/
       - name: Build docs
         run: |
           cd docs/src && make docs && touch ../.nojekyll
@@ -27,4 +38,5 @@ jobs:
         with:
           branch: gh-pages # The branch the action should deploy to.
           folder: docs # The folder the action should deploy.
-
+
+

Makefile

@@ -9,7 +9,7 @@ SRC_FILES = $(wildcard src/*.c)
 INC_FILES = $(wildcard include/*.h)
 
 AMD_SOURCE = $(wildcard $(EXTSRC)/amd/*.c)
-LDL_SOURCE = $(EXTSRC)/qdldl/qdldl.c
+LDL_SOURCE = $(wildcard $(EXTSRC)/qdldl/qdldl.c)
 AMD_OBJS = $(AMD_SOURCE:.c=.o)
 LDL_OBJS = $(LDL_SOURCE:.c=.o)
 TARGETS = $(OUT)/demo_socp_indirect $(OUT)/demo_socp_direct $(OUT)/run_from_file_indirect $(OUT)/run_from_file_direct
@@ -36,6 +36,13 @@ $(SCS_O): src/scs.c $(INC_FILES)
 $(SCS_INDIR_O): src/scs.c $(INC_FILES)
 	$(CC) $(CFLAGS) -DINDIRECT=1 -c $< -o $@
 
+$(EXTSRC)/amd/%.o: $(EXTSRC)/amd/%.c
+	$(CC) $(CFLAGS) -c $< -o $@
+
+$(EXTSRC)/qdldl/%.o: $(EXTSRC)/qdldl/%.c
+	$(CC) $(CFLAGS) -c $< -o $@
+
+
 %.o : src/%.c
 	$(CC) $(CFLAGS) -c $< -o $@
 
@@ -166,6 +173,31 @@ $(OUT)/libscsgpuindir.a: $(SCS_INDIR_O) $(SCS_OBJECTS) $(GPUINDIR)/private.o $(L
 $(OUT)/demo_socp_gpu_indirect: test/random_socp_prob.c $(OUT)/libscsgpuindir.a
 	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS) $(BLASLDFLAGS) $(CULDFLAGS)
 
+# Add wasm targets
+WASM_TARGETS = $(OUT)/scs.wasm $(OUT)/scs.js
+
+WASM_SRC = src/scs.c src/util.c src/cones.c src/exp_cone.c src/aa.c src/rw.c \
+           src/linalg.c src/ctrlc.c src/scs_version.c src/normalize.c \
+           $(DIRSRC)/private.c $(AMD_OBJS) $(LDL_OBJS) $(LINSYS)/scs_matrix.c $(LINSYS)/csparse.c
+
+WASM_SRC += bindings/embind/scs_bindings.cpp
+
+.PHONY: wasm
+wasm: CC = emcc
+wasm: $(WASM_TARGETS)
+
+$(OUT)/scs.wasm $(OUT)/scs.js: $(WASM_SRC)
+	mkdir -p $(OUT)
+	emcc $(CFLAGS) -o $(OUT)/scs.js $^ \
+		-s WASM=1 \
+		--bind \
+		-g0 \
+		-Os \
+		-s ALLOW_MEMORY_GROWTH=1 \
+		-s MODULARIZE \
+		-s 'EXPORT_NAME="createSCS"'
+		$(LDFLAGS)
+
 .PHONY: clean purge
 clean:
 	@rm -rf $(TARGETS) $(SCS_O) $(SCS_INDIR_O) $(SCS_OBJECTS) $(AMD_OBJS) $(LDL_OBJS) $(LINSYS)/*.o $(DIRSRC)/*.o $(INDIRSRC)/*.o $(MKLSRC)/*.o $(GPUDIR)/*.o $(GPUINDIR)/*.o $(LINSYS)/gpu/*.o