Refactor MuJoCo WASM struct codegen.

PiperOrigin-RevId: 837530063
Change-Id: I57518b2fbb536f356a5e15839d8e17f455bccde9

wasm/codegen/tests/generators_test.py

@@ -203,58 +203,6 @@ class FunctionUtilsTest(absltest.TestCase):
 
 class StructConstructorCodeBuilderTest(absltest.TestCase):
 
-  def test_constructor_code_with_default_function(self):
-    wrapped_structs = structs.generate_wasm_bindings(["mjLROpt"])
-    self.assertEqual(
-        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_);
-}
-MjLROpt::MjLROpt(const MjLROpt &other) : MjLROpt() {
-  *ptr_ = *other.get();
-}
-MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-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(),
-    )
-
-  def test_constructor_code_without_default_function(self):
-    wrapped_structs = structs.generate_wasm_bindings(["mjsElement"])
-    self.assertEqual(
-        wrapped_structs["mjsElement"].wrapped_source,
-        """
-MjsElement::MjsElement(mjsElement *ptr) : ptr_(ptr) {}
-mjsElement* MjsElement::get() const {
-  return ptr_;
-}
-void MjsElement::set(mjsElement* ptr) {
-  ptr_ = ptr;
-}
-""".strip(),
-    )
-
   def test_constructor_code_with_fields_with_init(self):
     field_with_init = ast_nodes.StructFieldDecl(
         name="element",
@@ -354,7 +302,7 @@ class StructFieldCodeBuilderTest(absltest.TestCase):
         doc="number of geoms",
     )
     self.assertEqual(
-        structs.build_primitive_type_definition(field),
+        structs._generate_field_data(field, "ngeom").declaration,
         """
 int ngeom() const {
   return ptr_->ngeom;
@@ -375,9 +323,7 @@ void set_ngeom(int value) {
         array_extent=("ngeom", 4),
     )
     self.assertEqual(
-        structs.build_memory_view_definition(
-            field, "ptr_->ngeom * 4", "ptr_->geom_rgba"
-        ),
+        structs._generate_field_data(field, "geom_rgba").declaration,
         """
 emscripten::val geom_rgba() const {
   return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
@@ -394,7 +340,7 @@ emscripten::val geom_rgba() const {
         doc="rgba when material is omitted",
     )
     self.assertEqual(
-        structs.build_string_field_definition(field),
+        structs._generate_field_data(field, "MjString").declaration,
         """
 mjString string_field() const {
   return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
@@ -416,7 +362,7 @@ void set_string_field(const mjString& value) {
         doc="",
     )
     self.assertEqual(
-        structs.build_mjvec_pointer_definition(field, "mjDoubleVec"),
+        structs._generate_field_data(field, "mjDoubleVec").declaration,
         """
 mjDoubleVec &vector_field() const {
   return *(ptr_->vector_field);
@@ -432,174 +378,43 @@ mjDoubleVec &vector_field() const {
         doc="",
     )
     self.assertEqual(
-        structs.build_mjvec_pointer_definition(field, "mjByteVec"),
+        structs._generate_field_data(field, "mjByteVec").declaration,
         """
 std::vector<uint8_t> &vector_field() const {
   return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
 }""".strip(),
     )
 
-  def test_simple_property_binding(self):
+  def test_get_property_binding(self):
     field = ast_nodes.StructFieldDecl(
         name="ngeom",
         type=ast_nodes.ValueType(name="int"),
         doc="number of geoms",
     )
     self.assertEqual(
-        structs.build_simple_property_binding(field, "MjModel"),
+        structs._get_property_binding(field, "MjModel"),
         '.property("ngeom", &MjModel::ngeom)',
     )
 
-  def test_simple_property_binding_with_setter(self):
+  def test_get_property_binding_with_setter(self):
     field = ast_nodes.StructFieldDecl(
         name="ngeom",
         type=ast_nodes.ValueType(name="int"),
         doc="",
     )
     self.assertEqual(
-        structs.build_simple_property_binding(field, "MjModel", True),
+        structs._get_property_binding(field, "MjModel", True),
         '.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
     )
 
-  def test_simple_property_binding_with_return_value_policy_as_ref(self):
+  def test_get_property_binding_with_return_value_policy_as_ref(self):
     field = ast_nodes.StructFieldDecl(
         name="ngeom",
         type=ast_nodes.ValueType(name="int"),
         doc="",
     )
     self.assertEqual(
-        structs.build_simple_property_binding(
-            field,
-            "MjModel",
-            add_setter=True,
-            add_return_value_policy_as_ref=True,
-        ),
-        '.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
-    )
-
-
-class StructFieldCodeBuilderTest(absltest.TestCase):
-
-  def test_primitive_type_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="number of geoms",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "ngeom").definition,
-        """
-int ngeom() const {
-  return ptr_->ngeom;
-}
-void set_ngeom(int value) {
-  ptr_->ngeom = value;
-}
-""".strip(),
-    )
-
-  def test_memory_view_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="geom_rgba",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="float"),
-        ),
-        doc="rgba when material is omitted",
-        array_extent=("ngeom", 4),
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "geom_rgba").definition,
-        """
-emscripten::val geom_rgba() const {
-  return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
-}
-""".strip(),
-    )
-
-  def test_string_field_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="string_field",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjString"),
-        ),
-        doc="rgba when material is omitted",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "MjString").definition,
-        """
-mjString string_field() const {
-  return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
-}
-void set_string_field(const mjString& value) {
-  if (ptr_ && ptr_->string_field) {
-    *(ptr_->string_field) = value;
-  }
-}
-""".strip(),
-    )
-
-  def test_mjvec_pointer_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="vector_field",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjDoubleVec"),
-        ),
-        doc="",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "mjDoubleVec").definition,
-        """
-mjDoubleVec &vector_field() const {
-  return *(ptr_->vector_field);
-}""".strip(),
-    )
-
-  def test_mjbyte_vec_pointer_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="vector_field",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjByteVec"),
-        ),
-        doc="",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "mjByteVec").definition,
-        """
-std::vector<uint8_t> &vector_field() const {
-  return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
-}""".strip(),
-    )
-
-  def test_simple_property_binding(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="number of geoms",
-    )
-    self.assertEqual(
-        structs._simple_property_binding(field, "MjModel"),
-        '.property("ngeom", &MjModel::ngeom)',
-    )
-
-  def test_simple_property_binding_with_setter(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="",
-    )
-    self.assertEqual(
-        structs._simple_property_binding(field, "MjModel", True),
-        '.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
-    )
-
-  def test_simple_property_binding_with_return_value_policy_as_ref(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="",
-    )
-    self.assertEqual(
-        structs._simple_property_binding(
+        structs._get_property_binding(
             field,
             "MjModel",
             setter=True,
@@ -621,7 +436,7 @@ class StructFieldHandlerTest(absltest.TestCase):
 
     wrapped_field_data = structs._generate_field_data(field_scalar, "MjModel")
     self.assertEqual(
-        wrapped_field_data.definition,
+        wrapped_field_data.declaration,
         """
 int ngeom() const {
   return ptr_->ngeom;
@@ -649,7 +464,7 @@ void set_ngeom(int value) {
     wrapped_field_data = structs._generate_field_data(field, "MjModel")
 
     self.assertEqual(
-        wrapped_field_data.definition,
+        wrapped_field_data.declaration,
         ("""
 emscripten::val geom_rgba() const {
   return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
@@ -674,7 +489,7 @@ emscripten::val geom_rgba() const {
     wrapped_field_data = structs._generate_field_data(field, "MjData")
 
     self.assertEqual(
-        wrapped_field_data.definition,
+        wrapped_field_data.declaration,
         ("""
 emscripten::val buffer() const {
   return emscripten::val(emscripten::typed_memory_view(model->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
@@ -693,7 +508,7 @@ emscripten::val buffer() const {
         doc="",
     )
     wrapped_field_data = structs._generate_field_data(field, "MjsTexture")
-    self.assertEqual(wrapped_field_data.definition, "MjsElement element;")
+    self.assertEqual(wrapped_field_data.declaration, "MjsElement element;")
 
     self.assertEqual(
         wrapped_field_data.binding,
@@ -717,7 +532,7 @@ emscripten::val buffer() const {
     wrapped_field_data = structs._generate_field_data(field, "MjOption")
 
     self.assertEqual(
-        wrapped_field_data.definition,
+        wrapped_field_data.declaration,
         ("""
 emscripten::val gravity() const {
   return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
@@ -741,7 +556,7 @@ emscripten::val gravity() const {
     )
     wrapped_field_data = structs._generate_field_data(field, "MjModel")
     self.assertEqual(
-        wrapped_field_data.definition,
+        wrapped_field_data.declaration,
         """
 emscripten::val multi_dim_array() const {
   return emscripten::val(emscripten::typed_memory_view(12, reinterpret_cast<float*>(ptr_->multi_dim_array)));