Add emscripten-wasm32 support with rmw_zenoh_pico

.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

extra_recipes/microcdr/build.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+set -eo pipefail
+
+# See extra_recipes/zenoh-pico/build.sh for why this is needed on
+# cross-compiling conda-forge toolchains.
+unset -f cmake || true
+
+mkdir -p build
+cd build
+
+if [[ $target_platform =~ emscripten.* ]]; then
+  # Building microcdr as a static archive (its own default) causes
+  # "duplicate symbol" wasm-ld errors once two consumers both link against
+  # it in the same final module (confirmed with rmw_zenoh_pico, which
+  # links microcdr directly AND transitively via
+  # rosidl_typesupport_microxrcedds_c's exported libraries, 2026-09-09) --
+  # wasm-ld treats the same static archive appearing twice on the link
+  # line as a hard error, unlike a normal linker. Build a real dynamically
+  # linked SIDE_MODULE .so instead, same fix as zenoh-pico's own build.sh.
+  cat > "$SRC_DIR/__vinca_shared_lib_patch.cmake" <<'EOF'
+set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS TRUE)
+add_compile_options("SHELL: -s USE_PTHREADS=1")
+set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS "-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=1 -s ALLOW_MEMORY_GROWTH=1 ")
+EOF
+
+  emcmake cmake .. \
+    -G Ninja \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX="$PREFIX" \
+    -DCMAKE_TOOLCHAIN_FILE="$BUILD_PREFIX/opt/emsdk/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake" \
+    -DCMAKE_CROSSCOMPILING_EMULATOR="$BUILD_PREFIX/bin/node" \
+    -DCMAKE_PROJECT_INCLUDE="$SRC_DIR/__vinca_shared_lib_patch.cmake" \
+    -DCMAKE_C_FLAGS="-pthread" \
+    -DUCDR_SUPERBUILD=OFF \
+    -DUCDR_BUILD_TESTS=OFF \
+    -DUCDR_BUILD_EXAMPLES=OFF \
+    -DBUILD_SHARED_LIBS=ON
+else
+  cmake .. \
+    -G Ninja \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX="$PREFIX" \
+    -DUCDR_SUPERBUILD=OFF \
+    -DUCDR_BUILD_TESTS=OFF \
+    -DUCDR_BUILD_EXAMPLES=OFF \
+    -DBUILD_SHARED_LIBS=OFF
+fi
+
+cmake --build . -j"${CPU_COUNT}"
+cmake --install .

extra_recipes/microcdr/recipe.yaml

@@ -0,0 +1,37 @@
+# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json
+#
+# Hand-written (not vinca-generated): not a ROS package, no package.xml.
+
+package:
+  name: microcdr
+  version: "2.0.2"
+
+source:
+  git: https://github.com/eProsima/micro-CDR.git
+  tag: "v2.0.2"
+
+build:
+  script: build.sh
+  # Bumped after switching static -> dynamic linking (no version bump).
+  number: 1
+
+requirements:
+  build:
+    - ${{ compiler('cxx') }}
+    - ${{ compiler('c') }}
+    - cmake
+    - ninja
+    - if: build_platform != target_platform
+      then:
+        - emscripten_emscripten-wasm32
+  host:
+  run:
+
+about:
+  license: Apache-2.0
+  summary: eProsima Micro CDR -- a small CDR (Common Data Representation) serialization library for constrained devices.
+  homepage: https://github.com/eProsima/micro-CDR
+
+extra:
+  recipe-maintainers:
+    - Tobias-Fischer

extra_recipes/zenoh-pico/build.sh

@@ -0,0 +1,66 @@
+#!/usr/bin/env bash
+set -eo pipefail
+
+# conda-forge's cross-compilation activation scripts define a `cmake` shell
+# function that auto-injects -DCMAKE_TOOLCHAIN_FILE/-DCMAKE_CROSSCOMPILING_EMULATOR
+# into every invocation -- including `cmake --build`/`cmake --install`, which
+# don't accept -D defines and fail with "Unknown argument". vinca's own
+# build_ament_cmake.sh.in does the same `unset -f cmake` before calling the
+# real binary directly for anything past the initial configure.
+unset -f cmake || true
+
+mkdir -p build
+cd build
+
+if [[ $target_platform =~ emscripten.* ]]; then
+  # Same shared-memory/pthread-ABI fix as every other emscripten-wasm32
+  # package in this build (see build_ament_cmake.sh.in / the yaml-cpp-vendor
+  # and spdlog-vendor emscripten patches for the same pattern): without
+  # explicitly re-enabling TARGET_SUPPORTS_SHARED_LIBS and re-applying
+  # USE_PTHREADS=1 at every compile step via CMAKE_PROJECT_INCLUDE,
+  # Emscripten.cmake's own default (TARGET_SUPPORTS_SHARED_LIBS=FALSE)
+  # silently downgrades BUILD_SHARED_LIBS=ON to a static libzenohpico.a
+  # compiled without atomics/bulk-memory, which then fails to link with
+  # "--shared-memory is disallowed ... because it was not compiled with
+  # 'atomics' or 'bulk-memory' features" into anything that expects a real
+  # pthread-enabled shared library.
+  cat > "$SRC_DIR/__vinca_shared_lib_patch.cmake" <<'EOF'
+set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS TRUE)
+add_compile_options("SHELL: -s USE_PTHREADS=1")
+set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS "-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=1 -s ALLOW_MEMORY_GROWTH=1 ")
+EOF
+
+  emcmake cmake .. \
+    -G Ninja \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX="$PREFIX" \
+    -DCMAKE_TOOLCHAIN_FILE="$BUILD_PREFIX/opt/emsdk/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake" \
+    -DCMAKE_CROSSCOMPILING_EMULATOR="$BUILD_PREFIX/bin/node" \
+    -DCMAKE_PROJECT_INCLUDE="$SRC_DIR/__vinca_shared_lib_patch.cmake" \
+    -DZP_PLATFORM=emscripten \
+    -DBUILD_SHARED_LIBS=ON \
+    -DZ_FEATURE_MULTI_THREAD=1 \
+    -DZ_FEATURE_LINK_WS=1 \
+    -DZ_FEATURE_LINK_TCP=0 \
+    -DZ_FEATURE_LINK_UDP_MULTICAST=0 \
+    -DZ_FEATURE_LINK_UDP_UNICAST=0 \
+    -DZ_FEATURE_SCOUTING_UDP=0 \
+    -DCMAKE_C_FLAGS="-pthread" \
+    -DCMAKE_EXE_LINKER_FLAGS="-pthread -s USE_PTHREADS=1 -s ALLOW_MEMORY_GROWTH=1 -s MAXIMUM_MEMORY=1024MB" \
+    -DCMAKE_SHARED_LINKER_FLAGS="-pthread -s USE_PTHREADS=1" \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_TESTING=OFF
+else
+  cmake .. \
+    -G Ninja \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX="$PREFIX" \
+    -DBUILD_SHARED_LIBS=ON \
+    -DZ_FEATURE_MULTI_THREAD=1 \
+    -DZ_FEATURE_LINK_WS=1 \
+    -DZ_BUILD_EXAMPLES=OFF \
+    -DZ_BUILD_TESTS=OFF
+fi
+
+cmake --build . -j"${CPU_COUNT}"
+cmake --install .

extra_recipes/zenoh-pico/emscripten-longer-ws-open-wait.patch

@@ -0,0 +1,13 @@
+diff --git a/src/system/emscripten/network.c b/src/system/emscripten/network.c
+index 870a06c6..7ba6f7e9 100644
+--- a/src/system/emscripten/network.c
++++ b/src/system/emscripten/network.c
+@@ -104,7 +104,7 @@ z_result_t _z_open_ws(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep
+
+         // WARNING: workaround as connect returns before the websocket is
+         // actually open.
+-        z_sleep_ms(100);
++        z_sleep_ms(2000);
+
+         if (ret != _Z_RES_OK) {
+             close(sock->_ws._fd);