Add JavaScript bindings and WASM support
Co-authored-by: Matija Kecman <matijak@google.com> Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar> Co-authored-by: Kyle Bayes <kylebayes@google.com> PiperOrigin-RevId: 826479070 Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
This commit is contained in:
Matias Manevi
committed by
Copybara-Service
Copybara-Service
parent
57f7145806
commit
4086261714
@@ -0,0 +1,358 @@
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# Copyright 2025 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Class to handle the different struct field types, and provide the c++ code for the wrappers and bindings."""
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import math
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from typing import Tuple, Union, cast
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from introspect import ast_nodes
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from wasm.codegen.helpers import common
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from wasm.codegen.helpers import constants
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from wasm.codegen.helpers import struct_field_code_builder
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from wasm.codegen.helpers import structs_wrappers_data
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AnonymousStructDecl = ast_nodes.AnonymousStructDecl
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ArrayType = ast_nodes.ArrayType
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PointerType = ast_nodes.PointerType
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StructFieldDecl = ast_nodes.StructFieldDecl
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ValueType = ast_nodes.ValueType
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WrappedFieldData = structs_wrappers_data.WrappedFieldData
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debug_print = common.debug_print
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class StructFieldHandler:
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"""Class to handle the different struct field types, and provide the c++ code for the definitions and bindings."""
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def __init__(
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self,
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field: StructFieldDecl,
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struct_wrapper_name: str,
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):
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self.field = field
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self.struct_wrapper_name = struct_wrapper_name
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self.simple_property_binding = (
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struct_field_code_builder.build_simple_property_binding(
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self.field, self.struct_wrapper_name
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)
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)
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self.manually_added_fields = (
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constants.MANUALLY_ADDED_FIELDS_FROM_TEMPLATE.get(
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self.struct_wrapper_name, {}
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)
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)
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def generate(self) -> WrappedFieldData:
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"""Generates the C++ definition and binding code for the struct field."""
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field_type = self.field.type
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if isinstance(field_type, ValueType) and (
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field_type.name in constants.PRIMITIVE_TYPES
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or field_type.name.startswith("mjt")
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):
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return self._handle_primitive()
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elif isinstance(field_type, PointerType):
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return self._handle_pointer()
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elif isinstance(field_type, ArrayType):
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return self._handle_array()
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elif isinstance(field_type, ValueType) and field_type.name.startswith("mj"):
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return self._handle_mj_struct()
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elif isinstance(field_type, AnonymousStructDecl):
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return self._handle_anonymous_struct()
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return self._undefined()
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def _handle_primitive(self) -> WrappedFieldData:
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"""Handles the generation of C++ definition and binding code for primitive fields."""
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return WrappedFieldData(
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definition=(
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struct_field_code_builder.build_primitive_type_definition(
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self.field
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)
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),
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binding=struct_field_code_builder.build_simple_property_binding(
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self.field,
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self.struct_wrapper_name,
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add_setter=True,
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add_return_value_policy_as_ref=True,
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),
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is_primitive_or_fixed_size=True,
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)
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def _handle_pointer(self) -> WrappedFieldData:
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"""Handles the generation of C++ definition and binding code for pointer fields."""
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if not isinstance(self.field.type, PointerType):
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raise ValueError(
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f"Expected PointerType, got {type(self.field.type)} for field"
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f" {self.field.name}"
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)
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field_type: PointerType = self.field.type
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inner_type_name = (
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field_type.inner_type.name
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if isinstance(field_type.inner_type, ValueType)
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else ""
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)
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ptr_field_expr = f"ptr_->{self.field.name}"
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array_size_str = ""
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if self.field.array_extent:
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array_size_str = parse_array_extent(
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self.field.array_extent, self.struct_wrapper_name, self.field.name
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)
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elif self.field.name in constants.BYTE_FIELDS.keys():
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# for byte fields, we need to cast the pointer to uint8_t*
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# so embind can correctly interpret the memory view
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ptr_field_expr = (
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f"static_cast<uint8_t*>({ptr_field_expr})"
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)
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# for these byte fields, there is no array_extent, so we add the size of
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# in the config file based in the documentation
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extent = (constants.BYTE_FIELDS[self.field.name]["size"],)
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array_size_str = parse_array_extent(
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extent, self.struct_wrapper_name, self.field.name
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)
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elif inner_type_name == "mjString":
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return WrappedFieldData(
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definition=struct_field_code_builder.build_string_field_definition(
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self.field
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),
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binding=struct_field_code_builder.build_simple_property_binding(
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self.field,
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self.struct_wrapper_name,
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add_setter=True,
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add_return_value_policy_as_ref=True,
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),
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)
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elif inner_type_name.startswith("mj") and inner_type_name.endswith("Vec"):
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return WrappedFieldData(
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definition=struct_field_code_builder.build_mjvec_pointer_definition(
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self.field, inner_type_name
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),
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binding=struct_field_code_builder.build_simple_property_binding(
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self.field,
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self.struct_wrapper_name,
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add_setter=False,
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add_return_value_policy_as_ref=True,
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),
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)
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elif inner_type_name in constants.PRIMITIVE_TYPES:
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return self._get_manual_definition(
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comment_type="primitive pointer field with complex extents"
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)
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if (
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inner_type_name.startswith("mj")
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and inner_type_name not in constants.PRIMITIVE_TYPES
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):
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debug_print(
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f"\tcomplex pointer type: needs manual wrapper: {self.field.name}"
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)
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# it's a pointer to a single struct,
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# like the `element` field in mjs structs
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# and the struct is not manually added
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if (
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not self.field.array_extent
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and self.struct_wrapper_name
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not in constants.MANUALLY_ADDED_FIELDS_FROM_TEMPLATE.keys()
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):
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ptr_field = cast(PointerType, self.field.type)
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wrapper_field_name = common.uppercase_first_letter(
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cast(ValueType, ptr_field.inner_type).name
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)
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return WrappedFieldData(
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definition=f"{wrapper_field_name} {self.field.name};",
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binding=struct_field_code_builder.build_simple_property_binding(
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self.field,
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self.struct_wrapper_name,
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add_setter=False,
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add_return_value_policy_as_ref=True,
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),
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initialization=f", {self.field.name}(ptr_->{self.field.name})",
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)
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else:
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debug_print(
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"\tcomplex pointer type with array extent: needs manual wrapper:"
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f" {self.field.name}"
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)
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return self._get_manual_definition(comment_type="complex pointer field")
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return WrappedFieldData(
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definition=(
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struct_field_code_builder.build_memory_view_definition(
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self.field, array_size_str, ptr_field_expr
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)
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),
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binding=self.simple_property_binding,
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)
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def _handle_array(self) -> WrappedFieldData:
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"""Handles the generation of C++ definition and binding code for array fields."""
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field_type = self.field.type
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if not isinstance(field_type, ArrayType):
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raise ValueError(
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f"Expected ArrayType, got {type(field_type)} for field"
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f" {self.field.name}"
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)
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inner_type = field_type.inner_type
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size = math.prod(field_type.extents)
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if isinstance(inner_type, ValueType):
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if inner_type.name in constants.PRIMITIVE_TYPES:
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ptr_expr = f"ptr_->{self.field.name}"
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if len(field_type.extents) > 1:
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# for multi-dimensional arrays, we need to cast the field
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# to a pointer, so embind can correctly interpret the memory
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# view
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ptr_expr = f"reinterpret_cast<{inner_type.name}*>({ptr_expr})"
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return WrappedFieldData(
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definition=(
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struct_field_code_builder.build_memory_view_definition(
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self.field, str(size), ptr_expr
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)
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),
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binding=self.simple_property_binding,
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is_primitive_or_fixed_size=True,
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)
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elif inner_type.name.startswith("mj") and not inner_type.name.startswith(
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"mjt"
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):
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debug_print(f"\tarray to vector wrapper needed: {self.field.name}")
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return self._get_manual_definition(comment_type="array field")
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debug_print(f"\tNOT IMPLEMENTED ARRAY field: {self.field.name}")
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return WrappedFieldData(
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definition=(
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f"// TODO: NOT IMPLEMENTED ARRAY wrapper for {self.field.name}"
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),
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binding=f"// TODO: NOT IMPLEMENTED ARRAY binding for {self.field.name}",
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)
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def _handle_mj_struct(self) -> WrappedFieldData:
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"""Handles the generation of C++ definition and binding code for mj struct fields."""
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if (
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isinstance(self.field.type, ValueType)
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and self.field.name not in self.manually_added_fields
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and self.field.type.name in constants.STRUCTS_TO_BIND
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):
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# TODO(manevi): Find a better way to do this instead of checking the
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# struct wrapper name.
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definition = ""
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if self.struct_wrapper_name not in constants.HARDCODED_WRAPPER_STRUCTS:
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wrapper_field_name = common.uppercase_first_letter(self.field.type.name)
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definition = f"{wrapper_field_name} {self.field.name};"
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return WrappedFieldData(
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definition=definition,
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binding=struct_field_code_builder.build_simple_property_binding(
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self.field,
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self.struct_wrapper_name,
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add_setter=False,
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add_return_value_policy_as_ref=True,
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),
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initialization=f", {self.field.name}(&ptr_->{self.field.name})",
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ptr_copy_reset=f"{self.field.name}.set(&ptr_->{self.field.name});",
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is_primitive_or_fixed_size=True,
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)
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return self._get_manual_definition(comment_type="struct field")
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def _handle_anonymous_struct(self) -> WrappedFieldData:
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"""Handles the generation of C++ definition and binding code for anonymous struct fields."""
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anonymous_struct_name = ""
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for name, value in constants.ANONYMOUS_STRUCTS.items():
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if (
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common.uppercase_first_letter(value["parent"])
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== self.struct_wrapper_name
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and value["field_name"] == self.field.name
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):
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anonymous_struct_name = name
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break
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if (
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isinstance(self.field.type, AnonymousStructDecl)
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and self.field.name not in self.manually_added_fields
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and anonymous_struct_name in constants.STRUCTS_TO_BIND
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):
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return WrappedFieldData(
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binding=struct_field_code_builder.build_simple_property_binding(
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self.field,
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self.struct_wrapper_name,
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add_setter=False,
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add_return_value_policy_as_ref=True,
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),
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initialization=f", {self.field.name}(&ptr_->{self.field.name})",
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ptr_copy_reset=f"{self.field.name}.set(&ptr_->{self.field.name});",
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is_primitive_or_fixed_size=True,
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)
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return self._get_manual_definition(comment_type="anonymous struct field")
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def _undefined(self) -> WrappedFieldData:
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"""This function adds a TODO comment for fields that are not handled by this class yet."""
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return WrappedFieldData(
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definition=f"// TODO: UNDEFINED definition for {self.field.name}",
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binding=f"// TODO: UNDEFINED binding for {self.field.name}",
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)
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def _get_manual_definition(self, comment_type: str = "") -> WrappedFieldData:
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"""Helper method to generate a comment as a definition for manually added fields."""
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if self.field.name in self.manually_added_fields:
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return WrappedFieldData(
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definition=(
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f"// {comment_type} is defined manually. {self.field.name}"
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),
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binding=self.simple_property_binding,
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)
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return WrappedFieldData(
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definition=(
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f"// TODO: Define {comment_type} manually for {self.field.name}"
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),
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binding=f"// TODO: {self.simple_property_binding}",
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)
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def parse_array_extent(
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extents: Tuple[Union[str, int], ...], wrapper_name: str, field_name: str
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) -> str:
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"""Parses the array extent of a field, returning a string representing the resolved extents."""
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if not extents:
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return ""
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return " * ".join(
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resolve_extent(extent, wrapper_name, field_name) for extent in extents
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)
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def resolve_extent(
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extent: Union[str, int], wrapper_name: str, field_name: str
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) -> str:
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"""Resolves the extent of an array, handling integers and references to other struct fields.
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Args:
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extent: The extent to resolve, can be an int or a string referencing a
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field.
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wrapper_name: The name of the struct wrapper.
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field_name: The name of the field being processed.
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Returns:
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A string representing the resolved extent, either as a number or a field
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reference.
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"""
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if isinstance(extent, int):
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return str(extent)
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# if starts with mj, it's a mujoco constant,
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# so we don't need to get a parent struct ptr
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if extent.startswith("mj"):
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return str(extent)
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if wrapper_name == "MjData" and field_name not in constants.MJDATA_SIZES:
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var_name = "model"
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else:
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var_name = "ptr_"
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return f"{var_name}->{extent}"
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