Make a bindings.h header file with the declarations, so that other projects can reuse the declared structs.

Add parseXMLString overload that supports passing in an MjVFS.

PiperOrigin-RevId: 940579266
Change-Id: I8294988bc4279e80795fab21024f64562a9e6743

wasm/codegen/generators/binding_builder.py

@@ -25,13 +25,7 @@ from wasm.codegen.generators import structs
 class BindingBuilder:
   """Builds WASM bindings for MuJoCo."""
 
-  def __init__(
-      self,
-      template_path_cc: str,
-  ):
-    with open(template_path_cc, "r") as f:
-      self.content_cc = f.readlines()
-
+  def __init__(self):
     self.markers_and_content = []
 
   def set_enums(self):
@@ -57,17 +51,25 @@ class BindingBuilder:
     self.markers_and_content += functions.generate(functions_to_bind)
     return self
 
-  def to_string(self) -> str:
-    for marker, content in self.markers_and_content:
-      self.content_cc = common.replace_lines_containing_marker(
-          self.content_cc, marker, content
+  def build_string(self, template_path: str) -> str:
+    """Applies the accumulated bindings to a template file and returns the output."""
+    with open(template_path, "r") as f:
+      content = f.readlines()
+
+    for marker, lines in self.markers_and_content:
+      content = common.replace_lines_containing_marker(
+          content, marker, lines
       )
-    text = "".join(self.content_cc)
-    return text.replace(
+
+    text = "".join(content)
+    text = text.replace(
         "// limitations under the License.\n\n",
         "// limitations under the License.\n\n// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.\n\n",
         1,
     )
+    return text
 
-  def build(self, generated_path_cc: str):
-    common.write_to_file(generated_path_cc, self.to_string())
+  def build_file(self, template_path: str, generated_path: str):
+    """Applies the accumulated bindings to a template file and writes the output."""
+    text = self.build_string(template_path)
+    common.write_to_file(generated_path, text)