Introduce new logging API, fixes #858

PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886

python/mujoco/structs.cc

@@ -539,6 +539,96 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(int, number);
 #undef X
 
+  // ==================== MJLOGCONFIG ==========================================
+  py::class_<MjLogConfigWrapper> mjLogConfig(m, "MjLogConfig");
+  mjLogConfig.def(py::init<>());
+  mjLogConfig.def("__copy__", [](const MjLogConfigWrapper& other) {
+    return MjLogConfigWrapper(other);
+  });
+  mjLogConfig.def("__deepcopy__",
+                  [](const MjLogConfigWrapper& other, py::dict) {
+                    return MjLogConfigWrapper(other);
+                  });
+  DefineStructFunctions(mjLogConfig);
+  mjLogConfig.def_property(
+      "logto_console",
+      [](const MjLogConfigWrapper& d) { return d.get()->logto_console; },
+      [](MjLogConfigWrapper& d, bool rhs) { d.get()->logto_console = rhs; });
+  mjLogConfig.def_property(
+      "logto_file",
+      [](const MjLogConfigWrapper& d) { return d.get()->logto_file; },
+      [](MjLogConfigWrapper& d, bool rhs) { d.get()->logto_file = rhs; });
+  mjLogConfig.def_property(
+      "logfile",
+      [](const MjLogConfigWrapper& d) { return std::string(d.get()->logfile); },
+      [](MjLogConfigWrapper& d, const std::string& rhs) {
+        std::strncpy(d.get()->logfile, rhs.c_str(), 1023);
+        d.get()->logfile[1023] = '\0';
+      });
+  mjLogConfig.def_property(
+      "topics", [](const MjLogConfigWrapper& d) { return d.get()->topics; },
+      [](MjLogConfigWrapper& d, int rhs) { d.get()->topics = rhs; });
+  mjLogConfig.def_static("get", []() {
+    MjLogConfigWrapper wrapper;
+    *wrapper.get() = mju_getLogConfig();
+    return wrapper;
+  });
+  mjLogConfig.def("set", [](const MjLogConfigWrapper& self) {
+    mju_setLogConfig(*self.get());
+  });
+
+  // ==================== MJLOGMESSAGE =========================================
+  py::class_<MjLogMessageWrapper> mjLogMessage(m, "MjLogMessage");
+  mjLogMessage.def(py::init<>());
+  mjLogMessage.def("__copy__", [](const MjLogMessageWrapper& other) {
+    return MjLogMessageWrapper(other);
+  });
+  mjLogMessage.def("__deepcopy__",
+                   [](const MjLogMessageWrapper& other, py::dict) {
+                     return MjLogMessageWrapper(other);
+                   });
+  DefineStructFunctions(mjLogMessage);
+  mjLogMessage.def_property(
+      "level", [](const MjLogMessageWrapper& d) { return d.get()->level; },
+      [](MjLogMessageWrapper& d, int rhs) { d.get()->level = rhs; });
+  mjLogMessage.def_property(
+      "topic", [](const MjLogMessageWrapper& d) { return d.get()->topic; },
+      [](MjLogMessageWrapper& d, int rhs) { d.get()->topic = rhs; });
+  mjLogMessage.def_property(
+      "subject",
+      [](const MjLogMessageWrapper& d) {
+        return std::string(d.get()->subject);
+      },
+      [](MjLogMessageWrapper& d, const std::string& rhs) {
+        std::strncpy(d.get()->subject, rhs.c_str(), 1023);
+        d.get()->subject[1023] = '\0';
+      });
+  mjLogMessage.def_property_readonly(
+      "body",
+      [](const MjLogMessageWrapper& d) -> py::object {
+        if (d.get()->body) return py::str(d.get()->body);
+        return py::none();
+      });
+  mjLogMessage.def_property_readonly(
+      "func",
+      [](const MjLogMessageWrapper& d) -> py::object {
+        if (d.get()->func) return py::str(d.get()->func);
+        return py::none();
+      });
+  mjLogMessage.def_property_readonly(
+      "file",
+      [](const MjLogMessageWrapper& d) -> py::object {
+        if (d.get()->file) return py::str(d.get()->file);
+        return py::none();
+      });
+  mjLogMessage.def_property(
+      "line", [](const MjLogMessageWrapper& d) { return d.get()->line; },
+      [](MjLogMessageWrapper& d, int rhs) { d.get()->line = rhs; });
+  mjLogMessage.def_property(
+      "timestamp",
+      [](const MjLogMessageWrapper& d) { return d.get()->timestamp; },
+      [](MjLogMessageWrapper& d, bool rhs) { d.get()->timestamp = rhs; });
+
   // ==================== MJTIMERSTAT ==========================================
   py::class_<MjTimerStatWrapper> mjTimerStat(m, "MjTimerStat");
   mjTimerStat.def(py::init<>());
@@ -960,18 +1050,22 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 #undef X
 
   // ==================== MJRVERTEXATTRIBUTE ===================================
-  py::class_<raw::MjrVertexAttribute> mjrVertexAttribute(m, "MjrVertexAttribute");
+  py::class_<raw::MjrVertexAttribute> mjrVertexAttribute(m,
+                                                         "MjrVertexAttribute");
   mjrVertexAttribute.def(py::init([](int usage, int type) {
                            return raw::MjrVertexAttribute{nullptr, usage, type};
                          }),
                          py::arg("usage") = 0, py::arg("type") = 0);
-  mjrVertexAttribute.def("__copy__",
-              [](const raw::MjrVertexAttribute& other) { return raw::MjrVertexAttribute(other); });
-  mjrVertexAttribute.def("__deepcopy__", [](const raw::MjrVertexAttribute& other, py::dict) {
+  mjrVertexAttribute.def("__copy__", [](const raw::MjrVertexAttribute& other) {
     return raw::MjrVertexAttribute(other);
   });
+  mjrVertexAttribute.def("__deepcopy__",
+                         [](const raw::MjrVertexAttribute& other, py::dict) {
+                           return raw::MjrVertexAttribute(other);
+                         });
   DefineStructFunctions(mjrVertexAttribute);
-#define X(var) mjrVertexAttribute.def_readwrite(#var, &raw::MjrVertexAttribute::var)
+#define X(var) \
+  mjrVertexAttribute.def_readwrite(#var, &raw::MjrVertexAttribute::var)
   X(usage);
   X(type);
 #undef X