feat: WASM modules based simulation in Companion (#6435)
This commit is contained in:
Raphael Coeffic
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/*
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* Copyright (C) EdgeTX
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#pragma once
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#include "simulatorinterface.h"
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#include <QMutex>
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#include <QTimer>
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#include <QVector>
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#include <atomic>
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#include "wasm_export.h"
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#include <SDL.h>
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class WasmSimulatorInterface : public SimulatorInterface
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{
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Q_OBJECT
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public:
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WasmSimulatorInterface(const QString & wasmPath, const QString & boardName,
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Board::Type boardType);
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virtual ~WasmSimulatorInterface();
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QString name() override;
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bool isRunning() override;
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void readRadioData(QByteArray & dest) override {}
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uint8_t * getLcd() override;
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uint8_t getSensorInstance(uint16_t id, uint8_t defaultValue = 0) override;
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uint16_t getSensorRatio(uint16_t id) override;
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const int getCapability(Capability cap) override;
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public slots:
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void init() override;
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void start(const char * filename = nullptr, bool tests = true) override;
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void stop() override;
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void setSdPath(const QString & sdPath = "",
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const QString & settingsPath = "") override;
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void setVolumeGain(const int value) override;
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void setRadioData(const QByteArray & data) override {}
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void setAnalogValue(uint8_t index, int16_t value) override;
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void setKey(uint8_t key, bool state) override;
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void setSwitch(uint8_t swtch, int8_t state) override;
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void setTrim(unsigned int idx, int value) override;
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void setTrimSwitch(uint8_t trim, bool state) override;
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void setTrainerInput(unsigned int inputNumber, int16_t value) override;
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void setInputValue(int type, uint8_t index, int16_t value) override;
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void rotaryEncoderEvent(int steps) override;
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void touchEvent(int type, int x, int y) override;
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void lcdFlushed() override;
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void setTrainerTimeout(uint16_t ms) override;
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void sendInternalModuleTelemetry(const quint8 protocol,
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const QByteArray data) override;
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void sendExternalModuleTelemetry(const quint8 protocol,
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const QByteArray data) override;
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void setLuaStateReloadPermanentScripts() override;
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void addTracebackDevice(QIODevice * device) override;
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void removeTracebackDevice(QIODevice * device) override;
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void receiveAuxSerialData(const quint8 port_num,
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const QByteArray & data) override;
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// Called by WASM import simuGetAnalog
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int16_t getAnalogValue(uint8_t index);
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// Called by WASM import simuTrace
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void writeTrace(const char * text);
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// Called by WASM import simuQueueAudio
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void queueAudio(const uint8_t * buf, uint32_t len);
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// Called by WASM import simuLcdNotify (from WAMR thread)
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void notifyLcdReady();
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protected slots:
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void run();
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void onLcdNotify();
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protected:
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bool loadModule();
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void unloadModule();
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bool resolveExports();
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void refreshLcd();
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void checkOutputsChanged();
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void initAudio();
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void deinitAudio();
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QString m_wasmPath;
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QString m_boardName;
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Board::Type m_boardType;
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QString m_sdPath;
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QString m_settingsPath;
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QTimer * m_timer10ms = nullptr;
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std::atomic<bool> m_lcdNotified{false};
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QMutex m_mutex;
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QMutex m_mtxTbDevices;
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QVector<QIODevice *> m_tracebackDevices;
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bool m_stopRequested = false;
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// Audio
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SDL_AudioDeviceID m_audioDevice = 0;
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int m_volumeGain = SDL_MIX_MAXVOLUME;
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// Host-side analog values (polled by WASM via simuGetAnalog)
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static constexpr int MAX_ANALOGS = 32;
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int16_t m_analogValues[MAX_ANALOGS] = {};
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// Cached output values for change detection
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TxOutputs m_lastOutputs;
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bool m_resetOutputsData = true;
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// Persistent WASM buffer for bulk copies (allocated once in init)
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uint32_t m_wasmScratchBuf = 0;
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uint32_t m_wasmScratchSize = 0;
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// Host-side LCD buffer + persistent WASM-side copy buffer
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uint8_t * m_lcdBuffer = nullptr;
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uint32_t m_lcdBufferSize = 0;
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uint32_t m_wasmLcdBuf = 0;
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uint32_t m_lcdWidth = 0;
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uint32_t m_lcdHeight = 0;
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uint32_t m_lcdDepth = 0;
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// WAMR handles
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wasm_module_t m_module = nullptr;
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wasm_module_inst_t m_moduleInst = nullptr;
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wasm_exec_env_t m_execEnv = nullptr;
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QByteArray m_wasmBinary;
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// Cached WASM function references
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wasm_function_inst_t m_fnInit = nullptr;
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wasm_function_inst_t m_fnStart = nullptr;
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wasm_function_inst_t m_fnStop = nullptr;
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wasm_function_inst_t m_fnIsRunning = nullptr;
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wasm_function_inst_t m_fnSetKey = nullptr;
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wasm_function_inst_t m_fnSetTrim = nullptr;
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wasm_function_inst_t m_fnSetSwitch = nullptr;
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wasm_function_inst_t m_fnLcdChanged = nullptr;
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wasm_function_inst_t m_fnLcdCopy = nullptr;
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wasm_function_inst_t m_fnLcdGetWidth = nullptr;
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wasm_function_inst_t m_fnLcdGetHeight = nullptr;
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wasm_function_inst_t m_fnLcdGetDepth = nullptr;
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wasm_function_inst_t m_fnTouchDown = nullptr;
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wasm_function_inst_t m_fnTouchUp = nullptr;
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wasm_function_inst_t m_fnFatfsSetPaths = nullptr;
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wasm_function_inst_t m_fnRotaryEncoderEvent = nullptr;
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wasm_function_inst_t m_fnGetCapability = nullptr;
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// Output value exports (bulk copy)
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wasm_function_inst_t m_fnGetNumChannels = nullptr;
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wasm_function_inst_t m_fnCopyChannelOutputs = nullptr;
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wasm_function_inst_t m_fnCopyMixOutputs = nullptr;
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wasm_function_inst_t m_fnGetNumLogicalSwitches = nullptr;
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wasm_function_inst_t m_fnCopyLogicalSwitches = nullptr;
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wasm_function_inst_t m_fnGetTrimValue = nullptr;
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wasm_function_inst_t m_fnGetTrimRange = nullptr;
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wasm_function_inst_t m_fnGetFlightMode = nullptr;
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wasm_function_inst_t m_fnGetNumGVars = nullptr;
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wasm_function_inst_t m_fnGetNumFlightModes = nullptr;
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wasm_function_inst_t m_fnGetGVar = nullptr;
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// Phase 4: telemetry, trim, lua, lcd, trainer
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wasm_function_inst_t m_fnSetTrimValue = nullptr;
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wasm_function_inst_t m_fnSendTelemetry = nullptr;
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wasm_function_inst_t m_fnLuaReloadPermanentScripts = nullptr;
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wasm_function_inst_t m_fnLcdFlushed = nullptr;
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wasm_function_inst_t m_fnGetMaxTrainerChannels = nullptr;
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wasm_function_inst_t m_fnCopyTrainerInput = nullptr;
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wasm_function_inst_t m_fnSetTrainerTimeout = nullptr;
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// Backlight and function switch LEDs
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wasm_function_inst_t m_fnGetBacklightState = nullptr;
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wasm_function_inst_t m_fnGetNumCustomSwitches = nullptr;
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wasm_function_inst_t m_fnGetCustomSwitchColor = nullptr;
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wasm_function_inst_t m_fnGetCustomSwitchIndex = nullptr;
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// Trainer input buffer (flushed in bulk via run())
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static constexpr int MAX_TRAINER_CH = 16;
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int16_t m_trainerValues[MAX_TRAINER_CH] = {};
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bool m_trainerDirty = false;
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// Cached function switch LED colors for change detection
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static constexpr int MAX_FS_LEDS = 8;
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uint32_t m_lastFSLedColors[MAX_FS_LEDS] = {};
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wasm_function_inst_t m_fnMalloc = nullptr;
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wasm_function_inst_t m_fnFree = nullptr;
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};
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class WasmSimulatorFactory : public SimulatorFactory
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{
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public:
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WasmSimulatorFactory(const QString & wasmPath, const QString & boardName,
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Board::Type boardType);
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QString name() override;
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Board::Type type() override;
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SimulatorInterface * create() override;
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private:
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QString m_wasmPath;
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QString m_boardName;
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Board::Type m_boardType;
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};
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