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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/structs.py
+86
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@@ -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',