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
2025-10-31 07:20:18 -07:00
parent 57f7145806
commit 4086261714
58 changed files with 24418 additions and 22 deletions
@@ -0,0 +1,110 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Tests for structs_parser."""
+
+from absl.testing import absltest
+from introspect import ast_nodes
+from introspect import structs as introspect_structs
+from wasm.codegen.helpers import structs_parser
+from wasm.codegen.helpers import structs_wrappers_data
+
+
+class StructsParserTest(absltest.TestCase):
+
+  def setUp(self):
+    super().setUp()
+    self.wrapped_structs = structs_parser.generate_wasm_bindings(
+        structs_wrappers_data.create_wrapped_structs_set_up_data([
+            "mjModel",
+            "mjData",
+            "mjVisualGlobal",
+            "mjVisualQuality",
+            "mjVisual",
+        ])
+    )
+
+  def test_sort_structs_by_dependency(self):
+    mock_introspect_structs = {
+        "mjA": ast_nodes.StructDecl(
+            name="mjA",
+            declname="mjA",
+            fields=[
+                ast_nodes.StructFieldDecl(
+                    doc="", name="b_field", type=ast_nodes.ValueType(name="mjB")
+                )
+            ],
+        ),
+        "mjB": ast_nodes.StructDecl(
+            name="mjB",
+            declname="mjB",
+            fields=[
+                ast_nodes.StructFieldDecl(
+                    doc="", name="c_field", type=ast_nodes.ValueType(name="mjC")
+                )
+            ],
+        ),
+        "mjC": ast_nodes.StructDecl(name="mjC", declname="mjC", fields=[]),
+        "mjD": ast_nodes.StructDecl(name="mjD", declname="mjD", fields=[]),
+    }
+    with absltest.mock.patch.dict(
+        introspect_structs.STRUCTS, mock_introspect_structs
+    ):
+      struct_names = ["mjA", "mjB", "mjC", "mjD"]
+      sorted_names = structs_parser.sort_structs_by_dependency(struct_names)
+      self.assertEqual(sorted_names, ["mjC", "mjD", "mjB", "mjA"])
+
+  def test_generate_wasm_bindings(self):
+    self.assertEqual(self.wrapped_structs["mjModel"].wrap_name, "MjModel")
+    self.assertEqual(self.wrapped_structs["mjData"].wrap_name, "MjData")
+    self.assertEqual(
+        self.wrapped_structs["mjVisualGlobal"].wrap_name, "MjVisualGlobal"
+    )
+    self.assertEqual(
+        self.wrapped_structs["mjVisualQuality"].wrap_name, "MjVisualQuality"
+    )
+    self.assertEqual(self.wrapped_structs["mjVisual"].wrap_name, "MjVisual")
+    self.assertNotEmpty(self.wrapped_structs["mjModel"].wrapped_fields)
+    self.assertNotEmpty(self.wrapped_structs["mjData"].wrapped_fields)
+    self.assertNotEmpty(self.wrapped_structs["mjVisualGlobal"].wrapped_fields)
+    self.assertNotEmpty(self.wrapped_structs["mjVisualQuality"].wrapped_fields)
+    self.assertNotEmpty(self.wrapped_structs["mjVisual"].wrapped_fields)
+
+  def test_generate_wasm_bindings_with_error(self):
+    with self.assertRaises(RuntimeError):
+      structs_parser.generate_wasm_bindings(
+          structs_wrappers_data.create_wrapped_structs_set_up_data(
+              ["mjFakeStruct"]
+          )
+      )
+    with self.assertRaises(RuntimeError):
+      structs_parser.generate_wasm_bindings(
+          structs_wrappers_data.create_wrapped_structs_set_up_data(
+              ["mjFakeAnonymousStruct"]
+          )
+      )
+
+  def test_get_default_func_name_mjv(self):
+    self.assertEqual(
+        structs_parser.get_default_func_name("mjvPerturb"), "mjv_defaultPerturb"
+    )
+
+  def test_get_default_func_name(self):
+    self.assertEqual(
+        structs_parser.get_default_func_name("mjOption"), "mj_defaultOption"
+    )
+
+
+if __name__ == "__main__":
+  absltest.main()