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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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python/mujoco/introspect/enums.py
+23
View File
@@ -609,6 +609,29 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjS_AWAKE', 1),
]),
)),
('mjtLogLevel',
EnumDecl(
name='mjtLogLevel',
declname='enum mjtLogLevel_',
values=dict([
('mjLOG_DEBUG', 0),
('mjLOG_INFO', 1),
('mjLOG_WARNING', 2),
('mjLOG_ERROR', 3),
]),
)),
('mjtLogTopic',
EnumDecl(
name='mjtLogTopic',
declname='enum mjtLogTopic_',
values=dict([
('mjTOPIC_NONE', 0),
('mjTOPIC_TIME_STP', 1),
('mjTOPIC_TIME_CMP', 2),
('mjTOPIC_SLEEP', 3),
('mjNTOPIC', 3),
]),
)),
('mjtGeomInertia',
EnumDecl(
name='mjtGeomInertia',
python/mujoco/introspect/functions.py
+63
View File
@@ -6309,6 +6309,69 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
parameters=(),
doc='Clear user error and memory handlers.',
)),
('mju_setLogHandler',
FunctionDecl(
name='mju_setLogHandler',
return_type=ValueType(name='mjfLogHandler'),
parameters=(
FunctionParameterDecl(
name='handler',
type=ValueType(name='mjfLogHandler'),
),
),
doc='Set the active log handler; return the previous handler. If handler is NULL, restore the default handler.', # pylint: disable=line-too-long
)),
('mju_getLogConfig',
FunctionDecl(
name='mju_getLogConfig',
return_type=ValueType(name='mjLogConfig'),
parameters=(),
doc='Get default handler configuration.',
)),
('mju_setLogConfig',
FunctionDecl(
name='mju_setLogConfig',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='config',
type=ValueType(name='mjLogConfig'),
),
),
doc='Set default handler configuration.',
)),
('mju_info',
FunctionDecl(
name='mju_info',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='topic',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Log an info message with optional topic filtering.',
)),
('mju_message',
FunctionDecl(
name='mju_message',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='mjLogMessage', is_const=True),
),
),
),
doc='Dispatch a structured log message to the active handler.',
)),
('mju_malloc',
FunctionDecl(
name='mju_malloc',
python/mujoco/introspect/structs.py
+86
View File
@@ -28,6 +28,92 @@ from .ast_nodes import StructFieldDecl
from .ast_nodes import ValueType
STRUCTS: Mapping[str, StructDecl] = dict([
('mjLogMessage',
StructDecl(
name='mjLogMessage',
declname='struct mjLogMessage_',
fields=(
StructFieldDecl(
name='level',
type=ValueType(name='int'),
doc='mjtLogLevel',
),
StructFieldDecl(
name='topic',
type=ValueType(name='int'),
doc='mjtLogTopic (0 for error/warning/user)',
),
StructFieldDecl(
name='subject',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(1024,),
),
doc='message subject (one-liner, printf-formatted)',
),
StructFieldDecl(
name='body',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
doc='message body (multi-line detail, or NULL)',
),
StructFieldDecl(
name='func',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
doc='__func__ or NULL',
),
StructFieldDecl(
name='file',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
doc='__FILE__ or NULL',
),
StructFieldDecl(
name='line',
type=ValueType(name='int'),
doc='__LINE__ or 0',
),
StructFieldDecl(
name='timestamp',
type=ValueType(name='mjtBool'),
doc='prepend timestamp to output',
),
),
)),
('mjLogConfig',
StructDecl(
name='mjLogConfig',
declname='struct mjLogConfig_',
fields=(
StructFieldDecl(
name='logto_console',
type=ValueType(name='mjtBool'),
doc='print to console (default: true)',
),
StructFieldDecl(
name='logto_file',
type=ValueType(name='mjtBool'),
doc='print to log file (default: true)',
),
StructFieldDecl(
name='logfile',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(1024,),
),
doc='log file path (default: "MUJOCO_LOG.TXT")',
),
StructFieldDecl(
name='topics',
type=ValueType(name='int'),
doc='enabled info topic bitmask (default: 0)',
),
),
)),
('mjLROpt',
StructDecl(
name='mjLROpt',