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Consolidate WASM bindings struct generator helper files into helpers/structs.py

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PiperOrigin-RevId: 827889180
Change-Id: I5f8bf0e25d1af7b21b554672bd438bbcd04e62be
This commit is contained in:
Matija Kecman
2025-11-04 03:22:18 -08:00
committed by Copybara-Service
parent 9b71fc728d
commit 12a31674a3
8 changed files with 858 additions and 998 deletions
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wasm/codegen/helpers/helpers_test.py
+38 -75
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@@ -21,10 +21,7 @@ from wasm.codegen.helpers import code_builder
from wasm.codegen.helpers import common
from wasm.codegen.helpers import constants
from wasm.codegen.helpers import function_utils
from wasm.codegen.helpers import struct_constructor_code_builder
from wasm.codegen.helpers import struct_field_code_builder
from wasm.codegen.helpers import struct_field_handler
from wasm.codegen.helpers import structs_parser
from wasm.codegen.helpers import structs
class CodeBuilderTest(absltest.TestCase):
@@ -294,7 +291,7 @@ class FunctionUtilsTest(absltest.TestCase):
class StructConstructorCodeBuilderTest(absltest.TestCase):
def test_constructor_code_with_default_function(self):
wrapped_structs = structs_parser.generate_wasm_bindings(["mjLROpt"])
wrapped_structs = structs.generate_wasm_bindings(["mjLROpt"])
self.assertEqual(
wrapped_structs["mjLROpt"].wrapped_source,
"""
@@ -323,7 +320,7 @@ std::unique_ptr<MjLROpt> MjLROpt::copy() {
)
def test_constructor_code_without_default_function(self):
wrapped_structs = structs_parser.generate_wasm_bindings(["mjsElement"])
wrapped_structs = structs.generate_wasm_bindings(["mjsElement"])
self.assertEqual(
wrapped_structs["mjsElement"].wrapped_source,
"""
@@ -343,11 +340,11 @@ std::unique_ptr<MjsElement> MjsElement::copy() {
),
doc="",
)
wrapped_field_data = struct_field_handler.StructFieldHandler(
wrapped_field_data = structs.StructFieldHandler(
field_with_init, "MjsTexture"
).generate()
self.assertEqual(
struct_constructor_code_builder.build_struct_source(
structs.build_struct_source(
"mjsTexture",
[wrapped_field_data],
),
@@ -359,7 +356,7 @@ MjsTexture::~MjsTexture() {}
def test_constructor_code_with_shallow_copy(self):
self.assertEqual(
struct_constructor_code_builder.build_struct_source("mjvLight", []),
structs.build_struct_source("mjvLight", []),
"""MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
MjvLight::MjvLight() : ptr_(new mjvLight) {
owned_ = true;
@@ -385,14 +382,14 @@ std::unique_ptr<MjvLight> MjvLight::copy() {
def test_build_struct_header_with_nested_wrappers(self):
self.assertEqual(
struct_constructor_code_builder.build_struct_header("mjData", []),
structs.build_struct_header("mjData", []),
"",
)
def test_build_struct_header_basic_struct(self):
self.assertEqual(
struct_constructor_code_builder.build_struct_header("mjLROpt", []),
structs.build_struct_header("mjLROpt", []),
"""
struct MjLROpt {
MjLROpt();
@@ -420,7 +417,7 @@ class StructFieldCodeBuilderTest(absltest.TestCase):
doc="number of geoms",
)
self.assertEqual(
struct_field_code_builder.build_primitive_type_definition(field),
structs.build_primitive_type_definition(field),
"""
int ngeom() const {
return ptr_->ngeom;
@@ -441,7 +438,7 @@ void set_ngeom(int value) {
array_extent=("ngeom", 4),
)
self.assertEqual(
struct_field_code_builder.build_memory_view_definition(
structs.build_memory_view_definition(
field, "ptr_->ngeom * 4", "ptr_->geom_rgba"
),
"""
@@ -460,7 +457,7 @@ emscripten::val geom_rgba() const {
doc="rgba when material is omitted",
)
self.assertEqual(
struct_field_code_builder.build_string_field_definition(field),
structs.build_string_field_definition(field),
"""
mjString string_field() const {
return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
@@ -482,9 +479,7 @@ void set_string_field(const mjString& value) {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_mjvec_pointer_definition(
field, "mjDoubleVec"
),
structs.build_mjvec_pointer_definition(field, "mjDoubleVec"),
"""
mjDoubleVec &vector_field() const {
return *(ptr_->vector_field);
@@ -500,9 +495,7 @@ mjDoubleVec &vector_field() const {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_mjvec_pointer_definition(
field, "mjByteVec"
),
structs.build_mjvec_pointer_definition(field, "mjByteVec"),
"""
std::vector<uint8_t> &vector_field() const {
return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
@@ -516,9 +509,7 @@ std::vector<uint8_t> &vector_field() const {
doc="number of geoms",
)
self.assertEqual(
struct_field_code_builder.build_simple_property_binding(
field, "MjModel"
),
structs.build_simple_property_binding(field, "MjModel"),
'.property("ngeom", &MjModel::ngeom)',
)
@@ -529,9 +520,7 @@ std::vector<uint8_t> &vector_field() const {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_simple_property_binding(
field, "MjModel", True
),
structs.build_simple_property_binding(field, "MjModel", True),
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
)
@@ -542,7 +531,7 @@ std::vector<uint8_t> &vector_field() const {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_simple_property_binding(
structs.build_simple_property_binding(
field,
"MjModel",
add_setter=True,
@@ -561,7 +550,7 @@ class StructFieldCodeBuilderTest(absltest.TestCase):
doc="number of geoms",
)
self.assertEqual(
struct_field_code_builder.build_primitive_type_definition(field),
structs.build_primitive_type_definition(field),
"""
int ngeom() const {
return ptr_->ngeom;
@@ -582,7 +571,7 @@ void set_ngeom(int value) {
array_extent=("ngeom", 4),
)
self.assertEqual(
struct_field_code_builder.build_memory_view_definition(
structs.build_memory_view_definition(
field, "ptr_->ngeom * 4", "ptr_->geom_rgba"
),
"""
@@ -601,7 +590,7 @@ emscripten::val geom_rgba() const {
doc="rgba when material is omitted",
)
self.assertEqual(
struct_field_code_builder.build_string_field_definition(field),
structs.build_string_field_definition(field),
"""
mjString string_field() const {
return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
@@ -623,9 +612,7 @@ void set_string_field(const mjString& value) {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_mjvec_pointer_definition(
field, "mjDoubleVec"
),
structs.build_mjvec_pointer_definition(field, "mjDoubleVec"),
"""
mjDoubleVec &vector_field() const {
return *(ptr_->vector_field);
@@ -641,9 +628,7 @@ mjDoubleVec &vector_field() const {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_mjvec_pointer_definition(
field, "mjByteVec"
),
structs.build_mjvec_pointer_definition(field, "mjByteVec"),
"""
std::vector<uint8_t> &vector_field() const {
return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
@@ -657,9 +642,7 @@ std::vector<uint8_t> &vector_field() const {
doc="number of geoms",
)
self.assertEqual(
struct_field_code_builder.build_simple_property_binding(
field, "MjModel"
),
structs.build_simple_property_binding(field, "MjModel"),
'.property("ngeom", &MjModel::ngeom)',
)
@@ -670,9 +653,7 @@ std::vector<uint8_t> &vector_field() const {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_simple_property_binding(
field, "MjModel", True
),
structs.build_simple_property_binding(field, "MjModel", True),
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
)
@@ -683,7 +664,7 @@ std::vector<uint8_t> &vector_field() const {
doc="",
)
self.assertEqual(
struct_field_code_builder.build_simple_property_binding(
structs.build_simple_property_binding(
field,
"MjModel",
add_setter=True,
@@ -703,9 +684,7 @@ class StructFieldHandlerTest(absltest.TestCase):
doc="number of geoms",
)
field_handler_scalar = struct_field_handler.StructFieldHandler(
field_scalar, "MjModel"
)
field_handler_scalar = structs.StructFieldHandler(field_scalar, "MjModel")
wrapped_field_data = field_handler_scalar.generate()
self.assertEqual(
wrapped_field_data.definition,
@@ -733,9 +712,7 @@ void set_ngeom(int value) {
doc="rgba when material is omitted",
array_extent=("ngeom", 4),
)
wrapped_field_data = struct_field_handler.StructFieldHandler(
field, "MjModel"
).generate()
wrapped_field_data = structs.StructFieldHandler(field, "MjModel").generate()
self.assertEqual(
wrapped_field_data.definition,
@@ -760,9 +737,7 @@ emscripten::val geom_rgba() const {
),
doc="main buffer; all pointers point in it (nbuffer bytes)",
)
wrapped_field_data = struct_field_handler.StructFieldHandler(
field, "MjData"
).generate()
wrapped_field_data = structs.StructFieldHandler(field, "MjData").generate()
self.assertEqual(
wrapped_field_data.definition,
@@ -783,7 +758,7 @@ emscripten::val buffer() const {
),
doc="",
)
wrapped_field_data = struct_field_handler.StructFieldHandler(
wrapped_field_data = structs.StructFieldHandler(
field, "MjsTexture"
).generate()
self.assertEqual(wrapped_field_data.definition, "MjsElement element;")
@@ -807,7 +782,7 @@ emscripten::val buffer() const {
),
doc="gravitational acceleration",
)
wrapped_field_data = struct_field_handler.StructFieldHandler(
wrapped_field_data = structs.StructFieldHandler(
field, "MjOption"
).generate()
@@ -834,9 +809,7 @@ emscripten::val gravity() const {
),
doc="description",
)
wrapped_field_data = struct_field_handler.StructFieldHandler(
field, "MjModel"
).generate()
wrapped_field_data = structs.StructFieldHandler(field, "MjModel").generate()
self.assertEqual(
wrapped_field_data.definition,
"""
@@ -853,52 +826,42 @@ emscripten::val multi_dim_array() const {
def test_parse_array_extent(self):
"""Test that parse_array_extent handles various cases correctly."""
self.assertEqual(
struct_field_handler.parse_array_extent((1, 2), "MjModel", "geom_rgba"),
structs.parse_array_extent((1, 2), "MjModel", "geom_rgba"),
"1 * 2",
)
self.assertEqual(
struct_field_handler.parse_array_extent(
(1, "ngeom"), "MjModel", "geom_rgba"
),
structs.parse_array_extent((1, "ngeom"), "MjModel", "geom_rgba"),
"1 * ptr_->ngeom",
)
self.assertEqual(
struct_field_handler.parse_array_extent(
(1, "mjConstant"), "MjModel", "geom_rgba"
),
structs.parse_array_extent((1, "mjConstant"), "MjModel", "geom_rgba"),
"1 * mjConstant",
)
def test_resolve_extent(self):
"""Test that resolve_extent handles various cases correctly."""
# for integer just return the number
self.assertEqual(
struct_field_handler.resolve_extent(1, "MjModel", "geom_rgba"), "1"
)
self.assertEqual(structs.resolve_extent(1, "MjModel", "geom_rgba"), "1")
# for string that does not start with mj, it's a member of the struct
self.assertEqual(
struct_field_handler.resolve_extent("ngeom", "MjModel", "geom_rgba"),
structs.resolve_extent("ngeom", "MjModel", "geom_rgba"),
"ptr_->ngeom",
)
# when it's MjData and the field is in MJDATA_SIZES, it should use ptr_->
self.assertEqual(
struct_field_handler.resolve_extent("size_value", "MjData", "efc_AR"),
structs.resolve_extent("size_value", "MjData", "efc_AR"),
"ptr_->size_value",
)
# when it's MjData and the field is not in MJDATA_SIZES,
# it should use model->
self.assertEqual(
struct_field_handler.resolve_extent(
"size_value", "MjData", "data_field"
),
structs.resolve_extent("size_value", "MjData", "data_field"),
"model->size_value",
)
self.assertEqual(
struct_field_handler.resolve_extent(
"mjConstant", "MjModel", "model_field"
),
structs.resolve_extent("mjConstant", "MjModel", "model_field"),
"mjConstant",
)