Refactor WASM binding directory structure

* All tests moved into wasm/codegen/tests folder
* Merged wasm/codegen/helpers/ into wasm/codegen/generators/

PiperOrigin-RevId: 829471173
Change-Id: I2dbc5d9351771817ec260c7ddf87c31e66a9eabe

wasm/codegen/generators/binding_builder.py

@@ -0,0 +1,71 @@
+# 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.
+
+from introspect import ast_nodes
+from introspect import enums as introspect_enums
+from introspect import functions as introspect_functions
+
+from wasm.codegen.generators import common
+from wasm.codegen.generators import constants
+from wasm.codegen.generators import enums
+from wasm.codegen.generators import functions
+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()
+
+    self.markers_and_content = []
+
+  def set_enums(self):
+    """Generates and sets the enum bindings."""
+    generator = enums.Generator(introspect_enums.ENUMS)
+    self.markers_and_content += generator.generate()
+    return self
+
+  def set_structs(self):
+    """Generates and sets the struct bindings."""
+    generator = structs.Generator()
+    self.markers_and_content += generator.generate()
+    return self
+
+  def set_functions(self):
+    """Generates and sets the function wrappers and bindings."""
+
+    functions_to_bind: dict[str, ast_nodes.FunctionDecl] = {}
+    for name, func in introspect_functions.FUNCTIONS.items():
+      if not functions.is_excluded_function_name(name):
+        if name not in constants.BOUNDCHECK_FUNCS:
+          functions_to_bind[name] = func
+
+    generator = functions.Generator(functions_to_bind)
+    self.markers_and_content += generator.generate()
+    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
+      )
+    return "".join(self.content_cc)
+
+  def build(self, generated_path_cc: str):
+    common.write_to_file(generated_path_cc, self.to_string())