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Introduce new logging API, fixes #858

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PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
This commit is contained in:
Yuval Tassa
2026-06-11 14:36:17 -07:00
committed by Copybara-Service
parent a2abaf7aef
commit 58f6d52491
45 changed files with 2586 additions and 422 deletions
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include/mujoco/mujoco.h
+22 -3
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@@ -41,12 +41,14 @@
extern "C" {
#endif
// user error and memory handlers
MJAPI extern void (*mju_user_error)(const char*);
MJAPI extern void (*mju_user_warning)(const char*);
// user memory handlers
MJAPI extern void* (*mju_user_malloc)(size_t);
MJAPI extern void (*mju_user_free)(void*);
// legacy error/warning handlers (deprecated: prefer mju_setLogHandler)
MJAPI extern void (*mju_user_error)(const char*);
MJAPI extern void (*mju_user_warning)(const char*);
// callbacks extending computation pipeline
MJAPI extern mjfGeneric mjcb_passive;
@@ -71,6 +73,7 @@ MJAPI extern const char* mjLABELSTRING[mjNLABEL];
MJAPI extern const char* mjFRAMESTRING[mjNFRAME];
MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
MJAPI extern const char* mjTOPICSTRING[mjNTOPIC];
//---------------------------------- Virtual file system -------------------------------------------
@@ -978,6 +981,22 @@ MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
// Clear user error and memory handlers.
MJAPI void mju_clearHandlers(void);
// Set the active log handler; return the previous handler.
// If handler is NULL, restore the default handler.
MJAPI mjfLogHandler mju_setLogHandler(mjfLogHandler handler);
// Get default handler configuration.
MJAPI mjLogConfig mju_getLogConfig(void);
// Set default handler configuration.
MJAPI void mju_setLogConfig(mjLogConfig config);
// Log an info message with optional topic filtering.
MJAPI void mju_info(int topic, const char* msg, ...) mjPRINTFLIKE(2, 3);
// Dispatch a structured log message to the active handler.
MJAPI void mju_message(const mjLogMessage* msg);
// Allocate memory; byte-align on 64; pad size to multiple of 64.
MJAPI void* mju_malloc(size_t size);