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Combine markers and content and reorganize parts of the WASM template file

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PiperOrigin-RevId: 836729951
Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
This commit is contained in:
Matija Kecman
2025-11-25 10:39:37 -08:00
committed by Copybara-Service
parent b6e162d6fa
commit 181dcab6be
3 changed files with 123 additions and 151 deletions
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wasm/codegen/generated/bindings.cc
+63 -68
View File
@@ -39,13 +39,8 @@
namespace mujoco::wasm { namespace mujoco::wasm {
using emscripten::enum_; using emscripten::enum_;
using emscripten::class_;
using emscripten::function; using emscripten::function;
using emscripten::val; using emscripten::val;
using emscripten::constant;
using emscripten::register_optional;
using emscripten::register_type;
using emscripten::register_vector;
using emscripten::return_value_policy::reference; using emscripten::return_value_policy::reference;
using emscripten::return_value_policy::take_ownership; using emscripten::return_value_policy::take_ownership;
@@ -115,33 +110,33 @@ val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
EMSCRIPTEN_BINDINGS(mujoco_constants) { EMSCRIPTEN_BINDINGS(mujoco_constants) {
// from mjmodel.h // from mjmodel.h
constant("mjPI", mjPI); emscripten::constant("mjPI", mjPI);
constant("mjMAXVAL", mjMAXVAL); emscripten::constant("mjMAXVAL", mjMAXVAL);
constant("mjMINMU", mjMINMU); emscripten::constant("mjMINMU", mjMINMU);
constant("mjMINIMP", mjMINIMP); emscripten::constant("mjMINIMP", mjMINIMP);
constant("mjMAXIMP", mjMAXIMP); emscripten::constant("mjMAXIMP", mjMAXIMP);
constant("mjMAXCONPAIR", mjMAXCONPAIR); emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
constant("mjNEQDATA", mjNEQDATA); emscripten::constant("mjNEQDATA", mjNEQDATA);
constant("mjNDYN", mjNDYN); emscripten::constant("mjNDYN", mjNDYN);
constant("mjNGAIN", mjNGAIN); emscripten::constant("mjNGAIN", mjNGAIN);
constant("mjNBIAS", mjNBIAS); emscripten::constant("mjNBIAS", mjNBIAS);
constant("mjNREF", mjNREF); emscripten::constant("mjNREF", mjNREF);
constant("mjNIMP", mjNIMP); emscripten::constant("mjNIMP", mjNIMP);
constant("mjNSOLVER", mjNSOLVER); emscripten::constant("mjNSOLVER", mjNSOLVER);
// from mjvisualize.h // from mjvisualize.h
constant("mjNGROUP", mjNGROUP); emscripten::constant("mjNGROUP", mjNGROUP);
constant("mjMAXLIGHT", mjMAXLIGHT); emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
constant("mjMAXOVERLAY", mjMAXOVERLAY); emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
constant("mjMAXLINE", mjMAXLINE); emscripten::constant("mjMAXLINE", mjMAXLINE);
constant("mjMAXLINEPNT", mjMAXLINEPNT); emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
constant("mjMAXPLANEGRID", mjMAXPLANEGRID); emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
// from mujoco.h // from mujoco.h
constant("mjVERSION_HEADER", mjVERSION_HEADER); emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
// from mjtnum.h // from mjtnum.h
constant("mjMINVAL", mjMINVAL); emscripten::constant("mjMINVAL", mjMINVAL);
// emscripten::constant() is designed for simple, compile-time literal values // emscripten::constant() is designed for simple, compile-time literal values
// (like numbers or a single string literal), complex values need to be // (like numbers or a single string literal), complex values need to be
@@ -10058,6 +10053,36 @@ EMSCRIPTEN_BINDINGS(mujoco_structs) {
.property("status", &MjvScene::status, &MjvScene::set_status, reference()) .property("status", &MjvScene::status, &MjvScene::set_status, reference())
.property("stereo", &MjvScene::stereo, &MjvScene::set_stereo, reference()) .property("stereo", &MjvScene::stereo, &MjvScene::set_stereo, reference())
.property("translate", &MjvScene::translate); .property("translate", &MjvScene::translate);
emscripten::register_optional<MjSpec>();
emscripten::register_optional<MjsActuator>();
emscripten::register_optional<MjsBody>();
emscripten::register_optional<MjsCamera>();
emscripten::register_optional<MjsCompiler>();
emscripten::register_optional<MjsDefault>();
emscripten::register_optional<MjsElement>();
emscripten::register_optional<MjsEquality>();
emscripten::register_optional<MjsExclude>();
emscripten::register_optional<MjsFlex>();
emscripten::register_optional<MjsFrame>();
emscripten::register_optional<MjsGeom>();
emscripten::register_optional<MjsHField>();
emscripten::register_optional<MjsJoint>();
emscripten::register_optional<MjsKey>();
emscripten::register_optional<MjsLight>();
emscripten::register_optional<MjsMaterial>();
emscripten::register_optional<MjsMesh>();
emscripten::register_optional<MjsNumeric>();
emscripten::register_optional<MjsOrientation>();
emscripten::register_optional<MjsPair>();
emscripten::register_optional<MjsPlugin>();
emscripten::register_optional<MjsSensor>();
emscripten::register_optional<MjsSite>();
emscripten::register_optional<MjsSkin>();
emscripten::register_optional<MjsTendon>();
emscripten::register_optional<MjsText>();
emscripten::register_optional<MjsTexture>();
emscripten::register_optional<MjsTuple>();
emscripten::register_optional<MjsWrap>();
// TODO: should be generated in future CLs -- // // TODO: should be generated in future CLs -- //
emscripten::register_vector<MjSolverStat>("MjSolverStatVec"); emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
@@ -12753,64 +12778,34 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
function("mjv_updateCamera", &mjv_updateCamera_wrapper); function("mjv_updateCamera", &mjv_updateCamera_wrapper);
function("mjv_updateScene", &mjv_updateScene_wrapper); function("mjv_updateScene", &mjv_updateScene_wrapper);
function("mjv_updateSkin", &mjv_updateSkin_wrapper); function("mjv_updateSkin", &mjv_updateSkin_wrapper);
class_<WasmBuffer<float>>("FloatBuffer") emscripten::class_<WasmBuffer<float>>("FloatBuffer")
.constructor<int>() .constructor<int>()
.class_function("FromArray", &WasmBuffer<float>::FromArray) .class_function("FromArray", &WasmBuffer<float>::FromArray)
.function("GetPointer", &WasmBuffer<float>::GetPointer) .function("GetPointer", &WasmBuffer<float>::GetPointer)
.function("GetElementCount", &WasmBuffer<float>::GetElementCount) .function("GetElementCount", &WasmBuffer<float>::GetElementCount)
.function("GetView", &WasmBuffer<float>::GetView); .function("GetView", &WasmBuffer<float>::GetView);
class_<WasmBuffer<double>>("DoubleBuffer") emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
.constructor<int>() .constructor<int>()
.class_function("FromArray", &WasmBuffer<double>::FromArray) .class_function("FromArray", &WasmBuffer<double>::FromArray)
.function("GetPointer", &WasmBuffer<double>::GetPointer) .function("GetPointer", &WasmBuffer<double>::GetPointer)
.function("GetElementCount", &WasmBuffer<double>::GetElementCount) .function("GetElementCount", &WasmBuffer<double>::GetElementCount)
.function("GetView", &WasmBuffer<double>::GetView); .function("GetView", &WasmBuffer<double>::GetView);
class_<WasmBuffer<int>>("IntBuffer") emscripten::class_<WasmBuffer<int>>("IntBuffer")
.constructor<int>() .constructor<int>()
.class_function("FromArray", &WasmBuffer<int>::FromArray) .class_function("FromArray", &WasmBuffer<int>::FromArray)
.function("GetPointer", &WasmBuffer<int>::GetPointer) .function("GetPointer", &WasmBuffer<int>::GetPointer)
.function("GetElementCount", &WasmBuffer<int>::GetElementCount) .function("GetElementCount", &WasmBuffer<int>::GetElementCount)
.function("GetView", &WasmBuffer<int>::GetView); .function("GetView", &WasmBuffer<int>::GetView);
register_vector<std::string>("mjStringVec");
register_vector<int>("mjIntVec");
register_vector<mjIntVec>("mjIntVecVec");
register_vector<float>("mjFloatVec");
register_vector<mjFloatVec>("mjFloatVecVec");
register_vector<double>("mjDoubleVec");
// register_type gives better type information (val is mapped to any by default) // register_type gives better type information (val is mapped to any by default)
register_type<NumberArray>("number[]"); emscripten::register_vector<std::string>("mjStringVec");
register_type<String>("string"); emscripten::register_vector<int>("mjIntVec");
register_vector<uint8_t>("mjByteVec"); emscripten::register_vector<mjIntVec>("mjIntVecVec");
register_optional<MjSpec>(); emscripten::register_vector<float>("mjFloatVec");
register_optional<MjsActuator>(); emscripten::register_vector<mjFloatVec>("mjFloatVecVec");
register_optional<MjsBody>(); emscripten::register_vector<double>("mjDoubleVec");
register_optional<MjsCamera>(); emscripten::register_type<NumberArray>("number[]");
register_optional<MjsCompiler>(); emscripten::register_type<String>("string");
register_optional<MjsDefault>(); emscripten::register_vector<uint8_t>("mjByteVec");
register_optional<MjsElement>();
register_optional<MjsEquality>();
register_optional<MjsExclude>();
register_optional<MjsFlex>();
register_optional<MjsFrame>();
register_optional<MjsGeom>();
register_optional<MjsHField>();
register_optional<MjsJoint>();
register_optional<MjsKey>();
register_optional<MjsLight>();
register_optional<MjsMaterial>();
register_optional<MjsMesh>();
register_optional<MjsNumeric>();
register_optional<MjsOrientation>();
register_optional<MjsPair>();
register_optional<MjsPlugin>();
register_optional<MjsSensor>();
register_optional<MjsSite>();
register_optional<MjsSkin>();
register_optional<MjsTendon>();
register_optional<MjsText>();
register_optional<MjsTexture>();
register_optional<MjsTuple>();
register_optional<MjsWrap>();
} }
} // namespace mujoco::wasm } // namespace mujoco::wasm
wasm/codegen/generators/structs.py
+24 -41
View File
@@ -734,23 +734,19 @@ def generate(struct_to_bind: List[str]) -> list[tuple[str, list[str]]]:
typedefs.append( typedefs.append(
f"using {type_name} = decltype(::{s['parent']}::{s['field_name']});" f"using {type_name} = decltype(::{s['parent']}::{s['field_name']});"
) )
markers_and_content.append((
"// {{ ANONYMOUS_STRUCT_TYPEDEFS }}",
typedefs,
))
# Sort by struct name by dependency to ensure deterministic output order # Sort by struct name by dependency to ensure deterministic output order
dependency_sorted_struct_names = sort_structs_by_dependency( dependency_sorted_struct_names = sort_structs_by_dependency(
structs_to_bind_data structs_to_bind_data
) )
autogenned_struct_definitions = [] structs_header = []
for struct_name in dependency_sorted_struct_names: for s in dependency_sorted_struct_names:
struct_data = structs_to_bind_data[struct_name] struct_data = structs_to_bind_data[s]
if struct_data.wrapped_header: if struct_data.wrapped_header:
autogenned_struct_definitions.append(struct_data.wrapped_header + "\n") structs_header.append(struct_data.wrapped_header + "\n")
else: else:
definitions = [] definitions: list[str] = []
for f in sorted(struct_data.wrapped_fields, key=lambda f: f.definition): for f in sorted(struct_data.wrapped_fields, key=lambda f: f.definition):
if f.definition: if f.definition:
definitions.append(f.definition) definitions.append(f.definition)
@@ -758,42 +754,29 @@ def generate(struct_to_bind: List[str]) -> list[tuple[str, list[str]]]:
f"// INSERT-GENERATED-{struct_data.wrap_name}-DEFINITIONS", f"// INSERT-GENERATED-{struct_data.wrap_name}-DEFINITIONS",
definitions, definitions,
)) ))
markers_and_content.append((
"// {{ AUTOGENNED_STRUCTS_HEADER }}",
autogenned_struct_definitions,
))
autogenned_struct_source = [] structs_source = []
for struct_name in dependency_sorted_struct_names: for s in dependency_sorted_struct_names:
struct_data = structs_to_bind_data[struct_name] struct_data = structs_to_bind_data[s]
if struct_data.wrapped_source: if struct_data.wrapped_source:
autogenned_struct_source.append(struct_data.wrapped_source + "\n") structs_source.append(struct_data.wrapped_source + "\n")
autogenned_struct_bindings = [] struct_bindings = []
alphabetically_sorted_struct_names = sorted(structs_to_bind_data.keys()) alphabetically_sorted_struct_names = sorted(structs_to_bind_data.keys())
for struct_name in alphabetically_sorted_struct_names: for s in alphabetically_sorted_struct_names:
struct_data = structs_to_bind_data[struct_name] struct_data = structs_to_bind_data[s]
autogenned_struct_bindings.append(struct_data.bindings) struct_bindings.append(struct_data.bindings)
for s in sorted(struct_to_bind):
w = common.capitalize(s)
if w.startswith("Mjs") or w == "MjSpec":
struct_bindings.append(f"emscripten::register_optional<{w}>();")
markers_and_content.append(( # Combine all the markers and content into a single list
"// {{ AUTOGENNED_STRUCTS_SOURCE }}", markers_and_content += [
autogenned_struct_source, ("// {{ ANONYMOUS_STRUCT_TYPEDEFS }}", typedefs),
)) ("// {{ STRUCTS_HEADER }}", structs_header),
markers_and_content.append(( ("// {{ STRUCTS_SOURCE }}", structs_source),
"// {{ AUTOGENNED_STRUCTS_BINDINGS }}", ("// {{ STRUCTS_BINDINGS }}", struct_bindings),
autogenned_struct_bindings, ]
))
# Generate optional bindings
optional_bindings = []
for s_name in sorted(struct_to_bind):
w_name = common.capitalize(s_name)
if w_name.startswith("Mjs") or w_name == "MjSpec":
optional_bindings.append(f"register_optional<{w_name}>();")
markers_and_content.append((
"// {{ OPTIONAL_STRUCT_BINDINGS }}",
optional_bindings,
))
return markers_and_content return markers_and_content
wasm/codegen/templates/bindings.cc
+36 -42
View File
@@ -39,13 +39,8 @@
namespace mujoco::wasm { namespace mujoco::wasm {
using emscripten::enum_; using emscripten::enum_;
using emscripten::class_;
using emscripten::function; using emscripten::function;
using emscripten::val; using emscripten::val;
using emscripten::constant;
using emscripten::register_optional;
using emscripten::register_type;
using emscripten::register_vector;
using emscripten::return_value_policy::reference; using emscripten::return_value_policy::reference;
using emscripten::return_value_policy::take_ownership; using emscripten::return_value_policy::take_ownership;
@@ -115,33 +110,33 @@ val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
EMSCRIPTEN_BINDINGS(mujoco_constants) { EMSCRIPTEN_BINDINGS(mujoco_constants) {
// from mjmodel.h // from mjmodel.h
constant("mjPI", mjPI); emscripten::constant("mjPI", mjPI);
constant("mjMAXVAL", mjMAXVAL); emscripten::constant("mjMAXVAL", mjMAXVAL);
constant("mjMINMU", mjMINMU); emscripten::constant("mjMINMU", mjMINMU);
constant("mjMINIMP", mjMINIMP); emscripten::constant("mjMINIMP", mjMINIMP);
constant("mjMAXIMP", mjMAXIMP); emscripten::constant("mjMAXIMP", mjMAXIMP);
constant("mjMAXCONPAIR", mjMAXCONPAIR); emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
constant("mjNEQDATA", mjNEQDATA); emscripten::constant("mjNEQDATA", mjNEQDATA);
constant("mjNDYN", mjNDYN); emscripten::constant("mjNDYN", mjNDYN);
constant("mjNGAIN", mjNGAIN); emscripten::constant("mjNGAIN", mjNGAIN);
constant("mjNBIAS", mjNBIAS); emscripten::constant("mjNBIAS", mjNBIAS);
constant("mjNREF", mjNREF); emscripten::constant("mjNREF", mjNREF);
constant("mjNIMP", mjNIMP); emscripten::constant("mjNIMP", mjNIMP);
constant("mjNSOLVER", mjNSOLVER); emscripten::constant("mjNSOLVER", mjNSOLVER);
// from mjvisualize.h // from mjvisualize.h
constant("mjNGROUP", mjNGROUP); emscripten::constant("mjNGROUP", mjNGROUP);
constant("mjMAXLIGHT", mjMAXLIGHT); emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
constant("mjMAXOVERLAY", mjMAXOVERLAY); emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
constant("mjMAXLINE", mjMAXLINE); emscripten::constant("mjMAXLINE", mjMAXLINE);
constant("mjMAXLINEPNT", mjMAXLINEPNT); emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
constant("mjMAXPLANEGRID", mjMAXPLANEGRID); emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
// from mujoco.h // from mujoco.h
constant("mjVERSION_HEADER", mjVERSION_HEADER); emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
// from mjtnum.h // from mjtnum.h
constant("mjMINVAL", mjMINVAL); emscripten::constant("mjMINVAL", mjMINVAL);
// emscripten::constant() is designed for simple, compile-time literal values // emscripten::constant() is designed for simple, compile-time literal values
// (like numbers or a single string literal), complex values need to be // (like numbers or a single string literal), complex values need to be
@@ -159,9 +154,9 @@ EMSCRIPTEN_BINDINGS(mujoco_constants) {
// {{ ANONYMOUS_STRUCT_TYPEDEFS }} // {{ ANONYMOUS_STRUCT_TYPEDEFS }}
// {{ AUTOGENNED_STRUCTS_HEADER }} // {{ STRUCTS_HEADER }}
// {{ AUTOGENNED_STRUCTS_SOURCE }} // {{ STRUCTS_SOURCE }}
struct MjvScene { struct MjvScene {
MjvScene(); MjvScene();
@@ -470,7 +465,7 @@ int mj_setLengthRange_wrapper(const MjModel& m, const MjData& d, int index, cons
} }
EMSCRIPTEN_BINDINGS(mujoco_structs) { EMSCRIPTEN_BINDINGS(mujoco_structs) {
// {{ AUTOGENNED_STRUCTS_BINDINGS }} // {{ STRUCTS_BINDINGS }}
// TODO: should be generated in future CLs -- // // TODO: should be generated in future CLs -- //
emscripten::register_vector<MjSolverStat>("MjSolverStatVec"); emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
@@ -488,35 +483,34 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
function("parseXMLString", &parseXMLString_wrapper, take_ownership()); function("parseXMLString", &parseXMLString_wrapper, take_ownership());
function("error", &error_wrapper); function("error", &error_wrapper);
// {{ FUNCTION_BINDINGS }} // {{ FUNCTION_BINDINGS }}
class_<WasmBuffer<float>>("FloatBuffer") emscripten::class_<WasmBuffer<float>>("FloatBuffer")
.constructor<int>() .constructor<int>()
.class_function("FromArray", &WasmBuffer<float>::FromArray) .class_function("FromArray", &WasmBuffer<float>::FromArray)
.function("GetPointer", &WasmBuffer<float>::GetPointer) .function("GetPointer", &WasmBuffer<float>::GetPointer)
.function("GetElementCount", &WasmBuffer<float>::GetElementCount) .function("GetElementCount", &WasmBuffer<float>::GetElementCount)
.function("GetView", &WasmBuffer<float>::GetView); .function("GetView", &WasmBuffer<float>::GetView);
class_<WasmBuffer<double>>("DoubleBuffer") emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
.constructor<int>() .constructor<int>()
.class_function("FromArray", &WasmBuffer<double>::FromArray) .class_function("FromArray", &WasmBuffer<double>::FromArray)
.function("GetPointer", &WasmBuffer<double>::GetPointer) .function("GetPointer", &WasmBuffer<double>::GetPointer)
.function("GetElementCount", &WasmBuffer<double>::GetElementCount) .function("GetElementCount", &WasmBuffer<double>::GetElementCount)
.function("GetView", &WasmBuffer<double>::GetView); .function("GetView", &WasmBuffer<double>::GetView);
class_<WasmBuffer<int>>("IntBuffer") emscripten::class_<WasmBuffer<int>>("IntBuffer")
.constructor<int>() .constructor<int>()
.class_function("FromArray", &WasmBuffer<int>::FromArray) .class_function("FromArray", &WasmBuffer<int>::FromArray)
.function("GetPointer", &WasmBuffer<int>::GetPointer) .function("GetPointer", &WasmBuffer<int>::GetPointer)
.function("GetElementCount", &WasmBuffer<int>::GetElementCount) .function("GetElementCount", &WasmBuffer<int>::GetElementCount)
.function("GetView", &WasmBuffer<int>::GetView); .function("GetView", &WasmBuffer<int>::GetView);
register_vector<std::string>("mjStringVec");
register_vector<int>("mjIntVec");
register_vector<mjIntVec>("mjIntVecVec");
register_vector<float>("mjFloatVec");
register_vector<mjFloatVec>("mjFloatVecVec");
register_vector<double>("mjDoubleVec");
// register_type gives better type information (val is mapped to any by default) // register_type gives better type information (val is mapped to any by default)
register_type<NumberArray>("number[]"); emscripten::register_vector<std::string>("mjStringVec");
register_type<String>("string"); emscripten::register_vector<int>("mjIntVec");
register_vector<uint8_t>("mjByteVec"); emscripten::register_vector<mjIntVec>("mjIntVecVec");
// {{ OPTIONAL_STRUCT_BINDINGS }} emscripten::register_vector<float>("mjFloatVec");
emscripten::register_vector<mjFloatVec>("mjFloatVecVec");
emscripten::register_vector<double>("mjDoubleVec");
emscripten::register_type<NumberArray>("number[]");
emscripten::register_type<String>("string");
emscripten::register_vector<uint8_t>("mjByteVec");
} }
} // namespace mujoco::wasm } // namespace mujoco::wasm