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Cleanup WASM bindings struct generation

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PiperOrigin-RevId: 827949686
Change-Id: I4115e397f64963244e3c30a7eaff5be7534aadf2
This commit is contained in:
Matija Kecman
2025-11-04 06:43:08 -08:00
committed by Copybara-Service
parent 4b79a58fa0
commit 776fc32eb4
4 changed files with 664 additions and 497 deletions
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wasm/codegen/generated/bindings.cc
+570 -439
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File diff suppressed because it is too large Load Diff
wasm/codegen/helpers/helpers_test.py
+35 -13
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@@ -294,6 +294,11 @@ class StructConstructorCodeBuilderTest(absltest.TestCase):
wrapped_structs["mjLROpt"].wrapped_source,
"""
MjLROpt::MjLROpt(mjLROpt *ptr) : ptr_(ptr) {}
MjLROpt::~MjLROpt() {
if (owned_ && ptr_) {
delete ptr_;
}
}
MjLROpt::MjLROpt() : ptr_(new mjLROpt) {
owned_ = true;
mj_defaultLROpt(ptr_);
@@ -308,14 +313,15 @@ MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
*ptr_ = *other.get();
return *this;
}
MjLROpt::~MjLROpt() {
if (owned_ && ptr_) {
delete ptr_;
}
}
std::unique_ptr<MjLROpt> MjLROpt::copy() {
return std::make_unique<MjLROpt>(*this);
}
mjLROpt* MjLROpt::get() const {
return ptr_;
}
void MjLROpt::set(mjLROpt* ptr) {
ptr_ = ptr;
}
""".strip(),
)
@@ -326,8 +332,11 @@ std::unique_ptr<MjLROpt> MjLROpt::copy() {
"""
MjsElement::MjsElement(mjsElement *ptr) : ptr_(ptr) {}
MjsElement::~MjsElement() {}
std::unique_ptr<MjsElement> MjsElement::copy() {
return std::make_unique<MjsElement>(*this);
mjsElement* MjsElement::get() const {
return ptr_;
}
void MjsElement::set(mjsElement* ptr) {
ptr_ = ptr;
}
""".strip(),
)
@@ -351,6 +360,12 @@ std::unique_ptr<MjsElement> MjsElement::copy() {
"""
MjsTexture::MjsTexture(mjsTexture *ptr) : ptr_(ptr), element(ptr_->element) {}
MjsTexture::~MjsTexture() {}
mjsTexture* MjsTexture::get() const {
return ptr_;
}
void MjsTexture::set(mjsTexture* ptr) {
ptr_ = ptr;
}
""".strip(),
)
@@ -358,6 +373,11 @@ MjsTexture::~MjsTexture() {}
self.assertEqual(
structs.build_struct_source("mjvLight", []),
"""MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
MjvLight::~MjvLight() {
if (owned_ && ptr_) {
delete ptr_;
}
}
MjvLight::MjvLight() : ptr_(new mjvLight) {
owned_ = true;
}
@@ -371,14 +391,16 @@ MjvLight& MjvLight::operator=(const MjvLight &other) {
*ptr_ = *other.get();
return *this;
}
MjvLight::~MjvLight() {
if (owned_ && ptr_) {
delete ptr_;
}
}
std::unique_ptr<MjvLight> MjvLight::copy() {
return std::make_unique<MjvLight>(*this);
}""".strip(),
}
mjvLight* MjvLight::get() const {
return ptr_;
}
void MjvLight::set(mjvLight* ptr) {
ptr_ = ptr;
}
""".strip(),
)
wasm/codegen/helpers/structs.py
+25 -22
View File
@@ -459,28 +459,25 @@ def _build_struct_header_internal(
builder = code_builder.CodeBuilder()
with builder.struct(f"{w}"):
if not is_mjs:
builder.line(f"{w}();")
builder.line(f"{w}(const {w} &);")
builder.line(f"{w} &operator=(const {w} &);")
builder.line(f"explicit {w}({s} *ptr);")
builder.line(f"~{w}();")
if shallow_copy:
if not is_mjs:
builder.line(f"{w}();")
if shallow_copy and not is_mjs:
builder.line(f"{w}(const {w} &);")
builder.line(f"{w} &operator=(const {w} &);")
builder.line(f"std::unique_ptr<{w}> copy();")
builder.line(f"{s}* get() const;")
builder.line(f"void set({s}* ptr);")
for field in wrapped_fields:
if field.definition and field not in fields_with_init:
for line in field.definition.splitlines():
builder.line(line)
with builder.function(f"{s}* get() const"):
builder.line("return ptr_;")
with builder.function(f"void set({s}* ptr)"):
builder.line("ptr_ = ptr;")
builder.private()
builder.line(f"{s}* ptr_;")
if not is_mjs:
@@ -491,6 +488,7 @@ def _build_struct_header_internal(
for field in fields_with_init:
if field.definition:
builder.line(f"{field.definition}")
return builder.to_string() + ";"
@@ -600,8 +598,15 @@ def build_struct_source(
with builder.function(f"{w}::{w}({s} *ptr) : ptr_(ptr){fields_init}"):
pass
# constructor with default values
# destructor
with builder.function(f"{w}::~{w}()"):
if not is_mjs:
with builder.block("if (owned_ && ptr_)"):
delete_ptr = _delete_ptr_statement(s)
builder.line(delete_ptr)
if not is_mjs:
# default constructor
with builder.function(f"{w}::{w}() : ptr_(new {s}){fields_init}"):
builder.line("owned_ = true;")
default_func = _default_function_statement(s)
@@ -626,18 +631,16 @@ def build_struct_source(
builder.line(field_with_init.ptr_copy_reset)
builder.line("return *this;")
# destructor
with builder.function(f"{w}::~{w}()"):
if not is_mjs:
with builder.block("if (owned_ && ptr_)"):
delete_ptr = _delete_ptr_statement(s)
builder.line(delete_ptr)
# copy function
if shallow_copy:
# explicit copy function
with builder.function(f"std::unique_ptr<{w}> {w}::copy()"):
builder.line(f"return std::make_unique<{w}>(*this);")
with builder.function(f"{s}* {w}::get() const"):
builder.line("return ptr_;")
with builder.function(f"void {w}::set({s}* ptr)"):
builder.line("ptr_ = ptr;")
return builder.to_string()
wasm/codegen/templates/bindings.cc
+34 -23
View File
@@ -55,9 +55,9 @@ struct MjVisualGlobal {
MjVisualGlobal &operator=(const MjVisualGlobal &);
~MjVisualGlobal();
std::unique_ptr<MjVisualGlobal> copy();
mjVisualGlobal* get() const;
void set(mjVisualGlobal* ptr);
// INSERT-GENERATED-MjVisualGlobal-DEFINITIONS
mjVisualGlobal* get() const { return ptr_; }
void set(mjVisualGlobal* ptr) { ptr_ = ptr; }
private:
mjVisualGlobal* ptr_;
@@ -71,9 +71,9 @@ struct MjVisualQuality {
MjVisualQuality &operator=(const MjVisualQuality &);
~MjVisualQuality();
std::unique_ptr<MjVisualQuality> copy();
mjVisualQuality* get() const;
void set(mjVisualQuality* ptr);
// INSERT-GENERATED-MjVisualQuality-DEFINITIONS
mjVisualQuality* get() const { return ptr_; }
void set(mjVisualQuality* ptr) { ptr_ = ptr; }
private:
mjVisualQuality* ptr_;
@@ -87,9 +87,9 @@ struct MjVisualHeadlight {
MjVisualHeadlight &operator=(const MjVisualHeadlight &);
~MjVisualHeadlight();
std::unique_ptr<MjVisualHeadlight> copy();
mjVisualHeadlight* get() const;
void set(mjVisualHeadlight* ptr);
// INSERT-GENERATED-MjVisualHeadlight-DEFINITIONS
mjVisualHeadlight* get() const { return ptr_; }
void set(mjVisualHeadlight* ptr) { ptr_ = ptr; }
private:
mjVisualHeadlight* ptr_;
@@ -103,9 +103,9 @@ struct MjVisualMap {
MjVisualMap &operator=(const MjVisualMap &);
~MjVisualMap();
std::unique_ptr<MjVisualMap> copy();
mjVisualMap* get() const;
void set(mjVisualMap* ptr);
// INSERT-GENERATED-MjVisualMap-DEFINITIONS
mjVisualMap* get() const { return ptr_; }
void set(mjVisualMap* ptr) { ptr_ = ptr; }
private:
mjVisualMap* ptr_;
@@ -119,9 +119,9 @@ struct MjVisualScale {
MjVisualScale &operator=(const MjVisualScale &);
~MjVisualScale();
std::unique_ptr<MjVisualScale> copy();
mjVisualScale* get() const;
void set(mjVisualScale* ptr);
// INSERT-GENERATED-MjVisualScale-DEFINITIONS
mjVisualScale* get() const { return ptr_; }
void set(mjVisualScale* ptr) { ptr_ = ptr; }
private:
mjVisualScale* ptr_;
@@ -135,9 +135,9 @@ struct MjVisualRgba {
MjVisualRgba &operator=(const MjVisualRgba &);
~MjVisualRgba();
std::unique_ptr<MjVisualRgba> copy();
mjVisualRgba* get() const;
void set(mjVisualRgba* ptr);
// INSERT-GENERATED-MjVisualRgba-DEFINITIONS
mjVisualRgba* get() const { return ptr_; }
void set(mjVisualRgba* ptr) { ptr_ = ptr; }
private:
mjVisualRgba* ptr_;
@@ -151,9 +151,9 @@ struct MjVisual {
MjVisual &operator=(const MjVisual &);
~MjVisual();
std::unique_ptr<MjVisual> copy();
mjVisual* get() const;
void set(mjVisual* ptr);
// INSERT-GENERATED-MjVisual-DEFINITIONS
mjVisual* get() const { return ptr_; }
void set(mjVisual* ptr) { ptr_ = ptr; }
private:
mjVisual* ptr_;
@@ -173,9 +173,9 @@ struct MjModel {
explicit MjModel(const MjModel &other);
~MjModel();
std::unique_ptr<MjModel> copy();
mjModel* get() const;
void set(mjModel* ptr);
// INSERT-GENERATED-MjModel-DEFINITIONS
mjModel* get() const { return ptr_; }
void set(mjModel* ptr) { ptr_ = ptr; }
private:
mjModel* ptr_;
@@ -195,9 +195,9 @@ struct MjData {
std::vector<MjWarningStat> InitWarningArray();
std::vector<MjContact> contact() const;
std::unique_ptr<MjData> copy();
mjData* get() const;
void set(mjData* ptr);
// INSERT-GENERATED-MjData-DEFINITIONS
mjData* get() const { return ptr_; }
void set(mjData* ptr) { ptr_ = ptr; }
private:
mjData* ptr_;
@@ -219,6 +219,9 @@ struct MjvScene {
std::vector<MjvLight> InitLightsArray();
std::vector<MjvGLCamera> InitCameraArray();
mjvScene* get() const;
void set(mjvScene* ptr);
std::vector<MjvGeom> geoms() const;
emscripten::val geomorder() const {
@@ -294,8 +297,6 @@ struct MjvScene {
6 * MjvScene::GetSumFlexFaces(), ptr_->flextexcoord));
}
// INSERT-GENERATED-MjvScene-DEFINITIONS
mjvScene* get() const { return ptr_; }
void set(mjvScene* ptr) { ptr_ = ptr; }
private:
mjvScene* ptr_;
@@ -314,9 +315,9 @@ struct MjSpec {
MjSpec &operator=(const MjSpec &);
~MjSpec();
std::unique_ptr<MjSpec> copy();
mjSpec* get() const;
void set(mjSpec* ptr);
// INSERT-GENERATED-MjSpec-DEFINITIONS
mjSpec* get() const { return ptr_; }
void set(mjSpec* ptr) { ptr_ = ptr; }
private:
mjSpec* ptr_;
@@ -495,6 +496,8 @@ MjModel::~MjModel() {
mj_deleteModel(ptr_);
}
}
mjModel* MjModel::get() const { return ptr_; }
void MjModel::set(mjModel *ptr) { ptr_ = ptr; }
// TODO(manevi): Consider passing `const MjModel& m` here, mj_makeData uses a const model.
// =============== MjData =============== //
@@ -520,6 +523,9 @@ MjData::~MjData() {
mj_deleteData(ptr_);
}
}
mjData* MjData::get() const { return ptr_; }
void MjData::set(mjData *ptr) { ptr_ = ptr; }
std::vector<MjSolverStat> MjData::InitSolverArray() {
std::vector<MjSolverStat> arr;
arr.reserve(mjNSOLVER * mjNISLAND);
@@ -597,6 +603,9 @@ MjvScene::~MjvScene() {
}
}
mjvScene* MjvScene::get() const { return ptr_; }
void MjvScene::set(mjvScene *ptr) { ptr_ = ptr; }
// Taken from the python mujoco bindings code for MjvScene Wrapper
int MjvScene::GetSumFlexFaces() const {
int nflexface = 0;
@@ -720,6 +729,9 @@ MjSpec::~MjSpec() {
}
}
mjSpec *MjSpec::get() const { return ptr_; }
void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
// =============== MjsOrientation =============== //
// INSERT-GENERATED-MjsOrientation-CONSTRUCTOR
@@ -965,7 +977,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
;
emscripten::class_<MjsOrientation>("MjsOrientation")
.function("copy", &MjsOrientation::copy, take_ownership())
// INSERT-GENERATED-MjsOrientation-BINDINGS
;