Refactor MuJoCo WASM struct codegen.

PiperOrigin-RevId: 837530063
Change-Id: I57518b2fbb536f356a5e15839d8e17f455bccde9

wasm/codegen/generators/constants.py

@@ -37,7 +37,7 @@ PRIMITIVE_TYPES: Set[str] = {
     # go/keep-sorted end
 }
 
-_SKIPPED_PLUGIN_FUNCTIONS: List[str] = [
+_SKIPPED_PLUGIN_FUNCTIONS = (
     # go/keep-sorted start
     "mj_getPluginConfig",
     "mj_loadAllPluginLibraries",
@@ -59,10 +59,10 @@ _SKIPPED_PLUGIN_FUNCTIONS: List[str] = [
     "mjp_registerResourceProvider",
     "mjp_resourceProviderCount",
     # go/keep-sorted end
-]
+)
 
 # Functions that are bound as class methods
-_SKIPPED_CLASS_METHODS: List[str] = [
+_SKIPPED_CLASS_METHODS = (
     # go/keep-sorted start
     "mj_compile",
     "mj_copyData",
@@ -81,15 +81,15 @@ _SKIPPED_CLASS_METHODS: List[str] = [
     "mj_saveXML",  # TODO(manevi): Bind this function.
     "mj_saveXMLString",  # TODO(manevi): Bind this function.
     # go/keep-sorted end
-]
+)
 
 # Omitted because not very useful
-_SKIPPED_WRITABLE_ERROR: List[str] = [
+_SKIPPED_WRITABLE_ERROR = (
     "mj_printSchema",
-]
+)
 
 # Omitted thread management functions
-_SKIPPED_THREAD_FUNCTIONS: List[str] = [
+_SKIPPED_THREAD_FUNCTIONS = (
     # go/keep-sorted start
     "mju_bindThreadPool",
     "mju_defaultTask",
@@ -98,10 +98,10 @@ _SKIPPED_THREAD_FUNCTIONS: List[str] = [
     "mju_threadPoolDestroy",
     "mju_threadPoolEnqueue",
     # go/keep-sorted end
-]
+)
 
 # Omitted asset cache functions
-_SKIPPED_ASSET_CACHE_FUNCTIONS: List[str] = [
+_SKIPPED_ASSET_CACHE_FUNCTIONS = (
     # go/keep-sorted start
     "mj_clearCache",
     "mj_getCache",
@@ -109,10 +109,10 @@ _SKIPPED_ASSET_CACHE_FUNCTIONS: List[str] = [
     "mj_getCacheSize",
     "mj_setCacheCapacity",
     # go/keep-sorted end
-]
+)
 
 # Omitted Virtual Filesystem (VFS) functions
-_SKIPPED_VFS_FUNCTIONS: List[str] = [
+_SKIPPED_VFS_FUNCTIONS = (
     # go/keep-sorted start
     "mj_addBufferVFS",
     "mj_addFileVFS",
@@ -120,10 +120,10 @@ _SKIPPED_VFS_FUNCTIONS: List[str] = [
     "mj_deleteFileVFS",
     "mj_deleteVFS",
     # go/keep-sorted end
-]
+)
 
 # Omitted irrelevant visual functions
-_SKIPPED_VISUAL_FUNCTIONS: List[str] = [
+_SKIPPED_VISUAL_FUNCTIONS = (
     # go/keep-sorted start
     "mjv_averageCamera",
     "mjv_copyData",
@@ -132,9 +132,9 @@ _SKIPPED_VISUAL_FUNCTIONS: List[str] = [
     "mjv_freeScene",
     "mjv_makeScene",
     # go/keep-sorted end
-]
+)
 
-_SKIPPED_MEMORY_FUNCTIONS: List[str] = [
+_SKIPPED_MEMORY_FUNCTIONS = (
     # go/keep-sorted start
     "mj_freeLastXML",
     "mj_freeStack",
@@ -158,9 +158,9 @@ _SKIPPED_MEMORY_FUNCTIONS: List[str] = [
     "mju_warning_i",
     "mju_warning_s",
     # go/keep-sorted end
-]
+)
 
-_SKIPPED_GETTERS_AND_SETTERS: List[str] = [
+_SKIPPED_GETTERS_AND_SETTERS = (
     # go/keep-sorted start
     "mjs_appendFloatVec",
     "mjs_appendIntVec",
@@ -179,26 +179,26 @@ _SKIPPED_GETTERS_AND_SETTERS: List[str] = [
     "mjs_setStringVec",
     "mjs_setUserValue",
     # go/keep-sorted end
-]
+)
 
-_SKIPPED_UTILITY_FUNCTIONS: List[str] = [
+_SKIPPED_UTILITY_FUNCTIONS = (
     # go/keep-sorted start
     "mju_getXMLDependencies",
     # go/keep-sorted end
-]
+)
 
 # Functions that require special wrappers.
 # These functions are not bound automatically but are written by hand instead.
-MANUAL_WRAPPER_FUNCTIONS: List[str] = [
+MANUAL_WRAPPER_FUNCTIONS = (
     # go/keep-sorted start
     "mj_saveLastXML",
     "mj_setLengthRange",
     "mju_error",
     # go/keep-sorted end
-]
+)
 
 # List of functions that should be skipped during the code generation process.
-SKIPPED_FUNCTIONS: List[str] = (
+SKIPPED_FUNCTIONS = (
     _SKIPPED_CLASS_METHODS
     + _SKIPPED_THREAD_FUNCTIONS
     + _SKIPPED_MEMORY_FUNCTIONS
@@ -212,7 +212,7 @@ SKIPPED_FUNCTIONS: List[str] = (
 )
 
 # List of structs that should be skipped during the code generation process.
-SKIPPED_STRUCTS: List[str] = [
+SKIPPED_STRUCTS = (
     # go/keep-sorted start
     "mjCache",
     "mjSDF",
@@ -229,14 +229,22 @@ SKIPPED_STRUCTS: List[str] = [
     "mjuiThemeColor",
     "mjuiThemeSpacing"
     # go/keep-sorted end
-]
+)
 
-# These structs require specific function calls for creation and/or deletion,
-# or some of their fields need to be handled manually for now;
-# making their wrapper constructors/destructors non-trivial.
-MANUAL_STRUCTS: List[str] = [
-    "MjvScene",
-]
+# Structs for which header generation is done manually.
+# mjvScene is included here because buffer sizes need to be calculated based on
+# introspect doc strings, which was considered a brittle unreliable solution in
+# the past.
+MANUAL_STRUCTS_HEADERS = (
+    "mjvScene",
+)
+# Structs for which source code generation is done manually.
+MANUAL_STRUCTS_SOURCES = (
+    "mjData",
+    "mjModel",
+    "mjvScene",
+    "mjSpec",
+)
 
 # Dictionary that maps anonymous structs to their parent struct and field name.
 # Anonymous structs are not defined as independent structs in the MuJoCo
@@ -262,7 +270,7 @@ STRUCTS_TO_BIND: List[str] = list(
 )
 
 # List of structs that do not have a default constructor.
-NO_DEFAULT_CONSTRUCTORS: List[str] = [
+NO_DEFAULT_CONSTRUCTORS = (
     # go/keep-sorted start
     "mjContact",
     "mjSolverStat",
@@ -277,12 +285,12 @@ NO_DEFAULT_CONSTRUCTORS: List[str] = [
     "mjvGLCamera",
     "mjvLight",
     # go/keep-sorted end
-]
+)
 
 # List of `mjData` fields where the array size should be obtained from other
 # `mjData` members, instead of from `mjModel` members. This is typically the
 # case for fields that are dynamically allocated during the simulation.
-MJDATA_SIZES: List[str] = [
+MJDATA_SIZES = (
     # go/keep-sorted start
     "contact",
     "efc_AR",
@@ -352,7 +360,7 @@ MJDATA_SIZES: List[str] = [
     "map_efc2iefc",
     "map_iefc2efc",
     # go/keep-sorted end
-]
+)
 
 # Fields that should be entirely omitted from the bindings.
 SKIPPED_FIELDS: Dict[str, List[str]] = {}