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Move plugin loading and scanning logic from Simulate to MuJoCo library.

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PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
This commit is contained in:
Saran Tunyasuvunakool
2022-11-16 13:15:05 -08:00
committed by Copybara-Service
parent 2ebc5f097b
commit 9ecade0707
9 changed files with 193 additions and 85 deletions
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doc/changelog.rst
+4
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@@ -50,6 +50,10 @@ General
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
- Add API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function is identical to
``dlopen`` on a POSIX system, and to ``LoadLibraryA`` on Windows. The second function scans a specified directory for
all dynamic libraries file and loads each library found. Dynamic libraries opened by these functions are assumed to
register one or more MuJoCo plugins on load.
Simulate
^^^^^^^^
include/mujoco/mjplugin.h
+3
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@@ -94,4 +94,7 @@ typedef struct mjpPlugin_ mjpPlugin;
#endif // defined(_MSC_VER)
// function pointer type for mj_loadAllPluginLibraries callback
typedef void (*mjfPluginLibraryLoadCallback)(const char* filename, int first, int count);
#endif // MUJOCO_INCLUDE_MJPLUGIN_H_
include/mujoco/mujoco.h
+8
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@@ -458,6 +458,14 @@ MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
// NULL: invalid plugin instance ID or attribute name
MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
// Load a dynamic library. The dynamic library is assumed to register one or more plugins.
MJAPI void mj_loadPluginLibrary(const char* path);
// Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
// are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
// for each dynamic library encountered that registers plugins.
MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
// Return version number: 1.0.2 is encoded as 102.
MJAPI int mj_version(void);
introspect/functions.py
+32
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@@ -2698,6 +2698,38 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Return a config attribute value of a plugin instance; NULL: invalid plugin instance ID or attribute name', # pylint: disable=line-too-long
)),
('mj_loadPluginLibrary',
FunctionDecl(
name='mj_loadPluginLibrary',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='path',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Load a dynamic library. The dynamic library is assumed to register one or more plugins.', # pylint: disable=line-too-long
)),
('mj_loadAllPluginLibraries',
FunctionDecl(
name='mj_loadAllPluginLibraries',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='directory',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='callback',
type=ValueType(name='mjfPluginLibraryLoadCallback'),
),
),
doc='Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory are assumed to register one or more plugins. Optionally, if a callback is specified, it is called for each dynamic library encountered that registers plugins.', # pylint: disable=line-too-long
)),
('mj_version',
FunctionDecl(
name='mj_version',
python/mujoco/functions.cc
+7
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@@ -535,6 +535,13 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_local2Global>(pymodule);
Def<traits::mj_getTotalmass>(pymodule);
Def<traits::mj_setTotalmass>(pymodule);
Def<traits::mj_loadPluginLibrary>(pymodule);
DEF_WITH_OMITTED_PY_ARGS(traits::mj_loadAllPluginLibraries, "callback")(
pymodule,
[](const std::string& directory) {
InterceptMjErrors(::mj_loadAllPluginLibraries)(
directory.c_str(), nullptr);
});
Def<traits::mj_version>(pymodule);
Def<traits::mj_versionString>(pymodule);
simulate/main.cc
+10 -83
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@@ -39,8 +39,6 @@ extern "C" {
#if defined(__APPLE__)
#include <mach-o/dyld.h>
#endif
#include <dirent.h>
#include <dlfcn.h>
#include <sys/errno.h>
#include <unistd.h>
#endif
@@ -164,15 +162,9 @@ std::string getExecutableDir() {
}
#if defined(_WIN32) || defined(__CYGWIN__)
using unique_dlhandle = std::unique_ptr<std::remove_pointer_t<HMODULE>, decltype(&FreeLibrary)>;
#else
using unique_dlhandle = std::unique_ptr<void, decltype(&dlclose)>;
#endif
// scan for libraries in the plugin directory to load additional plugins
std::vector<unique_dlhandle> scanPluginLibraries() {
void scanPluginLibraries() {
// check and print plugins that are linked directly into the executable
int nplugin = mjp_pluginCount();
if (nplugin) {
@@ -185,91 +177,26 @@ std::vector<unique_dlhandle> scanPluginLibraries() {
// define platform-specific strings
#if defined(_WIN32) || defined(__CYGWIN__)
const std::string sep = "\\";
const std::string dso_suffix = ".dll";
#else
const std::string sep = "/";
#if defined(__APPLE__)
const std::string dso_suffix = ".dylib";
#else
const std::string dso_suffix = ".so";
#endif
#endif
// output vectors containing DSO handles
std::vector<unique_dlhandle> dso_handles;
// platform-independent routine for checking and printing plugins registered by a dynamic library
const auto check_and_print_plugins = [&](const std::string& name, unique_dlhandle&& dlhandle) {
if (!dlhandle) {
return;
}
const int nplugin_new = mjp_pluginCount();
if (nplugin_new > nplugin) {
dso_handles.push_back(std::move(dlhandle));
// print all newly registered plugins
std::printf("Plugins registered by library '%s':\n", name.c_str());
for (int i = nplugin; i < nplugin_new; ++i) {
std::printf(" %s\n", mjp_getPluginAtSlot(i)->name);
}
// update counter for plugins registered so far
nplugin = nplugin_new;
}
};
// try to open the ${EXECDIR}/plugin directory
// ${EXECDIR} is the directory containing the simulate binary itself
const std::string executable_dir = getExecutableDir();
if (executable_dir.empty()) {
return dso_handles;
return;
}
const std::string plugin_dir = getExecutableDir() + sep + MUJOCO_PLUGIN_DIR;
#if defined(_WIN32) || defined(__CYGWIN__)
WIN32_FIND_DATAA find_data;
HANDLE hfile = FindFirstFileA((plugin_dir + sep + "*.dll").c_str(), &find_data);
if (!hfile) {
return dso_handles;
}
// go through each file in the directory
bool keep_going = true;
while (keep_going) {
const std::string name(find_data.cFileName);
// load the library and check for plugins
const std::string dso_path = plugin_dir + sep + name;
check_and_print_plugins(
name, unique_dlhandle(LoadLibraryA(dso_path.c_str()), &FreeLibrary));
keep_going = FindNextFileA(hfile, &find_data);
}
FindClose(hfile);
#else
DIR* dirp = opendir(plugin_dir.c_str());
if (!dirp) {
return dso_handles;
}
// go through each entry in the directory
for (struct dirent* dp; (dp = readdir(dirp));) {
// only look at regular files (i.e. skip symlinks, pipes, directories, etc.)
if (dp->d_type == DT_REG) {
const std::string name(dp->d_name);
if (name.size() > dso_suffix.size() &&
name.substr(name.size() - dso_suffix.size()) == dso_suffix) {
// load the library and check for plugins
const std::string dso_path = plugin_dir + sep + name;
check_and_print_plugins(
name, unique_dlhandle(dlopen(dso_path.c_str(), RTLD_NOW | RTLD_LOCAL), &dlclose));
}
}
}
closedir(dirp);
#endif
return dso_handles;
mj_loadAllPluginLibraries(
plugin_dir.c_str(), +[](const char* filename, int first, int count) {
std::printf("Plugins registered by library '%s':\n", filename);
for (int i = first; i < first + count; ++i) {
std::printf(" %s\n", mjp_getPluginAtSlot(i)->name);
}
});
}
@@ -519,7 +446,7 @@ int main(int argc, const char** argv) {
}
// scan for libraries in the plugin directory to load additional plugins
std::vector<unique_dlhandle> dso_handles = scanPluginLibraries();
scanPluginLibraries();
// simulate object encapsulates the UI
auto sim = std::make_unique<mj::Simulate>();
src/engine/engine_plugin.cc
+120 -2
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@@ -32,6 +32,15 @@
#include <utility>
#include <vector>
extern "C" {
#if defined(_WIN32) || defined(__CYGWIN__)
#include <windows.h>
#else
#include <dirent.h>
#include <dlfcn.h>
#endif
}
#ifdef __APPLE__
#include <Availability.h>
#if !defined(MAC_OS_X_VERSION_MIN_REQUIRED) && defined(__MAC_OS_X_VERSION_MIN_REQUIRED)
@@ -79,6 +88,30 @@ static_assert(
using Mutex = std::shared_mutex;
class ReentrantWriteLock {
public:
ReentrantWriteLock(Mutex& mutex) : mutex_(mutex) {
if (LockCountOnCurrentThread() == 0) {
mutex_.lock();
}
++LockCountOnCurrentThread();
}
~ReentrantWriteLock() {
if (--LockCountOnCurrentThread() == 0) {
mutex_.unlock();
}
}
private:
Mutex& mutex_;
static int& LockCountOnCurrentThread() noexcept {
thread_local int counter = 0;
return counter;
}
};
class Global {
public:
Global() {
@@ -94,6 +127,10 @@ class Global {
return *std::launder(reinterpret_cast<Mutex*>(&mutex_));
}
ReentrantWriteLock lock_mutex_exclusively() {
return ReentrantWriteLock(mutex());
}
private:
PluginTable table_;
std::atomic_int count_;
@@ -229,9 +266,8 @@ int mjp_registerPlugin(const mjpPlugin* plugin) {
}
}
// exclusively lock the global plugin table
Global& global = GetGlobal();
std::unique_lock lock(global.mutex());
auto lock = global.lock_mutex_exclusively();
int count = global.count().load(std::memory_order_acquire);
int local_idx = 0;
@@ -429,3 +465,85 @@ const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attr
return nullptr;
}
// load plugins from a dynamic library
void mj_loadPluginLibrary(const char* path) {
#if defined(_WIN32) || defined(__CYGWIN__)
LoadLibraryA(path);
#else
dlopen(path, RTLD_NOW | RTLD_LOCAL);
#endif
}
// scan a directory and load all dynamic libraries
void mj_loadAllPluginLibraries(const char* directory,
mjfPluginLibraryLoadCallback callback) {
auto load_dso_and_call_callback = [&](const std::string& filename,
const std::string& dso_path) {
int nplugin_before;
int nplugin_after;
Global& global = GetGlobal();
{
auto lock = global.lock_mutex_exclusively();
nplugin_before = mjp_pluginCount();
mj_loadPluginLibrary(dso_path.c_str());
nplugin_after = mjp_pluginCount();
}
if (callback) {
int count = nplugin_after - nplugin_before;
int first = count ? nplugin_before : -1;
callback(filename.c_str(), first, count);
}
};
// define platform-specific strings
#if defined(_WIN32) || defined(__CYGWIN__)
const std::string sep = "\\";
WIN32_FIND_DATAA find_data;
HANDLE hfile = FindFirstFileA(
(directory + sep + "*.dll").c_str(), &find_data);
if (!hfile) {
return;
}
// go through each file in the directory
bool keep_going = true;
while (keep_going) {
const std::string name(find_data.cFileName);
// load the library and check for plugins
const std::string dso_path = directory + sep + name;
load_dso_and_call_callback(name.c_str(), dso_path.c_str());
keep_going = FindNextFileA(hfile, &find_data);
}
FindClose(hfile);
#else
const std::string sep = "/";
#if defined(__APPLE__)
const std::string dso_suffix = ".dylib";
#else
const std::string dso_suffix = ".so";
#endif
DIR* dirp = opendir(directory);
if (!dirp) {
return;
}
// go through each entry in the directory
for (struct dirent* dp; (dp = readdir(dirp));) {
// only look at regular files (skip symlinks, pipes, directories, etc.)
if (dp->d_type == DT_REG) {
const std::string name(dp->d_name);
if (name.size() > dso_suffix.size() &&
name.substr(name.size() - dso_suffix.size()) == dso_suffix) {
// load the library
const std::string dso_path = directory + sep + name;
load_dso_and_call_callback(name.c_str(), dso_path.c_str());
}
}
}
closedir(dirp);
#endif
}
src/engine/engine_plugin.h
+6
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@@ -41,6 +41,12 @@ MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
// NULL: invalid plugin instance ID or attribute name
MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
// load plugins from a dynamic library
MJAPI void mj_loadPluginLibrary(const char* path);
// scan a directory and load all dynamic libraries
MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
// =================================================================================================
// MuJoCo-internal functions beyond this point.
// "Unsafe" suffix indicates that improper use of these functions may result in data races.
unity/Runtime/Bindings/MujocoBindings.cs
+3
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@@ -3035,6 +3035,9 @@ public static unsafe extern void mj_setTotalmass(mjModel_* m, double newmass);
[return: MarshalAs(UnmanagedType.LPStr)]
public static unsafe extern string mj_getPluginConfig(mjModel_* m, int plugin_id, [MarshalAs(UnmanagedType.LPStr)]string attrib);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_loadPluginLibrary([MarshalAs(UnmanagedType.LPStr)]string path);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_version();