Remove mjCPlugin from xml_native_reader.

PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011

src/xml/xml_native_reader.cc

@@ -40,7 +40,6 @@
 #include "user/user_composite.h"
 #include "user/user_flexcomp.h"
 #include "user/user_model.h"
-#include "user/user_objects.h"
 #include "user/user_util.h"
 #include "xml/xml_base.h"
 #include "xml/xml_util.h"
@@ -50,7 +49,7 @@ using std::string;
 using std::vector;
 using tinyxml2::XMLElement;
 
-void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
+void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjmPlugin* p) {
   std::map<std::string, std::string, std::less<>> config_attribs;
   XMLElement* child = FirstChildElement(elem);
   while (child) {
@@ -68,12 +67,12 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
     child = NextSiblingElement(child);
   }
 
-  if (!pp && !config_attribs.empty()) {
+  if (!p && !config_attribs.empty()) {
     throw mjXError(elem,
                    "plugin configuration attributes cannot be used in an "
                    "element that references a predefined plugin instance");
-  } else if (pp) {
-    pp->config_attribs = std::move(config_attribs);
+  } else if (p) {
+    mjm_setPluginAttributes(p, &config_attribs);
   }
 }
 }  // namespace
@@ -2276,10 +2275,6 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjmDefault* def)
   XMLElement* eplugin = FirstChildElement(elem, "plugin");
   if (eplugin) {
     OnePlugin(eplugin, &comp.plugin);
-    if (comp.plugin_instance_name.empty()) {
-      comp.plugin_instance_name = "composite" + comp.prefix;
-      ((mjCPlugin*)comp.plugin.instance)->name = comp.plugin_instance_name;
-    }
   }
 
   // cable
@@ -2602,10 +2597,6 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
   XMLElement* eplugin = FirstChildElement(elem, "plugin");
   if (eplugin) {
     OnePlugin(eplugin, &fcomp.plugin);
-    if (fcomp.plugin_instance_name.empty()) {
-      fcomp.plugin_instance_name = "flexcomp_" + fcomp.name;
-      ((mjCPlugin*)fcomp.plugin.instance)->name = fcomp.plugin_instance_name;
-    }
   }
 
   // make flexcomp
@@ -2631,7 +2622,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
   mjm_setString(plugin->instance_name, instance_name.c_str());
   if (instance_name.empty()) {
     plugin->instance = mjm_addPlugin(&model->spec)->instance;
-    ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance);
+    ReadPluginConfigs(elem, plugin);
   } else {
     model->hasImplicitPluginElem = true;
   }
@@ -2789,15 +2780,16 @@ void mjXReader::Extension(XMLElement* section) {
             throw mjXError(
                 child, "explicit plugin instance must appear before implicit plugin elements");
           }
-          mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(&model->spec)->instance;
-          GetXMLPos(child, pp);
-          ReadAttrTxt(child, "name", pp->name, /* required = */ true);
-          if (pp->name.empty()) {
+          string name;
+          mjmPlugin* p = mjm_addPlugin(&model->spec);
+          mjm_setString(p->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
+          ReadAttrTxt(child, "name", name, /* required = */ true);
+          mjm_setString(p->name, name.c_str());
+          if (!p->name) {
             throw mjXError(child, "plugin instance must have a name");
           }
-          ReadPluginConfigs(child, pp);
-          pp->plugin_slot = plugin_slot;
-          pp->nstate = -1;  // actual value to be filled in by the plugin later
+          ReadPluginConfigs(child, p);
+          p->plugin_slot = plugin_slot;
         }
         child = NextSiblingElement(child);
       }
@@ -4034,10 +4026,6 @@ mjmDefault* mjXReader::GetClass(XMLElement* section) {
 
 
 
-// get xml position
-void mjXReader::GetXMLPos(XMLElement* elem, mjCBase* obj) {
-  obj->info = "line = " + std::to_string(elem->GetLineNum());
-}
 
 // return true if c is a directory path separator (i.e. '/' or '\' on windows)
 static bool IsSeperator(char c) {

src/xml/xml_native_reader.h

@@ -23,7 +23,6 @@
 #include <mujoco/mujoco.h>
 #include "user/user_api.h"
 #include "user/user_model.h"
-#include "user/user_objects.h"
 #include "xml/xml_base.h"
 #include "xml/xml_util.h"
 
@@ -86,7 +85,6 @@ class mjXReader : public mjXBase {
 
   mjXSchema schema;                                                   // schema used for validation
   mjmDefault* GetClass(tinyxml2::XMLElement* section);                    // get default class name
-  static void GetXMLPos(tinyxml2::XMLElement* elem, mjCBase* obj);    // get xml position
 
   bool readingdefaults;  // true while reading defaults
 

src/xml/xml_native_writer.cc

@@ -412,7 +412,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
 
   // write plugin
   if (pgeom->plugin.active) {
-    OnePlugin(InsertEnd(elem, "plugin"), pgeom);
+    OnePlugin(InsertEnd(elem, "plugin"), &pgeom->plugin);
   }
 }
 
@@ -702,7 +702,7 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
 
   // plugins: write config attributes
   if (pact->plugin.active) {
-    OnePlugin(elem, pact);
+    OnePlugin(elem, &pact->plugin);
   }
 
   // non-plugins: write actuator parameters
@@ -731,21 +731,21 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
 
 
 // write plugin
-void mjXWriter::OnePlugin(XMLElement* elem, mjCBase* object) {
-  const std::string instance_name = std::string(mjm_getString(object->plugin.instance_name));
-  const std::string plugin_name = std::string(mjm_getString(object->plugin.name));
+void mjXWriter::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
+  const std::string instance_name = std::string(mjm_getString(plugin->instance_name));
+  const std::string plugin_name = std::string(mjm_getString(plugin->name));
   if (!instance_name.empty()) {
     WriteAttrTxt(elem, "instance", instance_name);
   } else {
     WriteAttrTxt(elem, "plugin", plugin_name);
-    const mjpPlugin* plugin = mjp_getPluginAtSlot(
-        ((mjCPlugin*)object->plugin.instance)->plugin_slot);
-    const char* c = &((mjCPlugin*)object->plugin.instance)->flattened_attributes[0];
-    for (int i = 0; i < plugin->nattribute; ++i) {
+    const mjpPlugin* pplugin = mjp_getPluginAtSlot(
+        ((mjCPlugin*)plugin->instance)->spec.plugin_slot);
+    const char* c = &((mjCPlugin*)plugin->instance)->flattened_attributes[0];
+    for (int i = 0; i < pplugin->nattribute; ++i) {
       std::string value(c);
       if (!value.empty()) {
         XMLElement* config_elem = InsertEnd(elem, "config");
-        WriteAttrTxt(config_elem, "key", plugin->attributes[i]);
+        WriteAttrTxt(config_elem, "key", pplugin->attributes[i]);
         WriteAttrTxt(config_elem, "value", value);
         c += value.size();
       }
@@ -1229,7 +1229,7 @@ void mjXWriter::Extension(XMLElement* root) {
     }
 
     // check if we need to open a new <plugin> section
-    const mjpPlugin* plugin = mjp_getPluginAtSlot(pp->plugin_slot);
+    const mjpPlugin* plugin = mjp_getPluginAtSlot(pp->spec.plugin_slot);
     if (plugin != last_plugin) {
       plugin_elem = InsertEnd(section, "plugin");
       WriteAttrTxt(plugin_elem, "plugin", plugin->name);
@@ -1406,7 +1406,7 @@ void mjXWriter::Asset(XMLElement* root) {
     if (pmesh->plugin.active) {
       elem = InsertEnd(section, "mesh");
       WriteAttrTxt(elem, "name", pmesh->name);
-      OnePlugin(InsertEnd(elem, "plugin"), pmesh);
+      OnePlugin(InsertEnd(elem, "plugin"), &pmesh->plugin);
     } else{
       elem = InsertEnd(section, "mesh");
       OneMesh(elem, pmesh, pmesh->def);
@@ -1506,7 +1506,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
 
   // write plugin
   if (body->plugin.active) {
-    OnePlugin(InsertEnd(elem, "plugin"), body);
+    OnePlugin(InsertEnd(elem, "plugin"), &body->plugin);
   }
 
   // write child bodies recursively
@@ -1904,7 +1904,7 @@ void mjXWriter::Sensor(XMLElement* root) {
         WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
         WriteAttrTxt(elem, "objname", psen->get_objname());
       }
-      OnePlugin(elem, psen);
+      OnePlugin(elem, &psen->plugin);
       break;
 
     // user-defined sensor

src/xml/xml_native_writer.h

@@ -66,7 +66,7 @@ class mjXWriter : public mjXBase {
   void OneEquality(tinyxml2::XMLElement* elem,  mjCEquality* pequality, mjCDef* def);
   void OneTendon(tinyxml2::XMLElement* elem,    mjCTendon* ptendon,     mjCDef* def);
   void OneActuator(tinyxml2::XMLElement* elem,  mjCActuator* pactuator, mjCDef* def);
-  void OnePlugin(tinyxml2::XMLElement* elem,    mjCBase* object);
+  void OnePlugin(tinyxml2::XMLElement* elem,    mjmPlugin* plugin);
 
   bool writingdefaults;                       // true during defaults write
 };