Move schema related generated files into their own directory

PiperOrigin-RevId: 958296165
Change-Id: I48cacc72c7df5994f5f816489ba069a5813845a1

doc/generate/generate_default_table.py

@@ -16,7 +16,7 @@
 
 The schema declares attribute defaults, but the defaults that act live in
 the C default-constructors (mjs_default*, mj_defaultOption, ...). This
-emits src/xml/mjcf_default_table.inc: one row per defaulted attribute,
+emits src/xml/generated/mjcf_default_table.inc: one row per defaulted attribute,
 binding the declared values to the field they describe, consumed by
 SchemaDefaultsTest, which compares every row against a freshly-constructed
 spec -- so a schema default that disagrees with the C defaults is a test
@@ -24,7 +24,7 @@ failure, not documentation drift. Checked in and gated by
 test/doc/doc_test.py.
 """
 
-import os
+import os  # pylint: disable=unused-import
 import sys
 
 _SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
@@ -83,7 +83,7 @@ struct mjXDefaultTable {
 '''
 
 
-def _values(schema, attr, ctype):
+def _values(schema, attr):
   """(ndecl, [C value expressions]) for an attribute's declared default."""
   default = attr.default
   if attr.type == 'enum':
@@ -125,7 +125,7 @@ def collect(schema, structs):
                          f'field {field} ({ctype})')
       kind = KIND_BY_CTYPE.get(ctype, 2)  # other mjt enums are int-sized
       length = dim if dim is not None else '1'
-      ndecl, values = _values(schema, attr, ctype)
+      ndecl, values = _values(schema, attr)
       if ndecl > 8:
         raise ValueError(f'{element.name}.{attr.name}: {ndecl} default '
                          'values exceed the row capacity')
@@ -143,6 +143,7 @@ def collect(schema, structs):
 
 
 def generate() -> str:
+  """Generates the mjcf_default_table.inc content as a string."""
   schema = mjcf_schema.parse_file(SCHEMA_PATH)
   structs = generate_read_table.parse_spec_structs(
       generate_read_table.SPEC_H_PATH, generate_read_table.MODEL_H_PATH)

doc/generate/generate_mjcf_map.py

@@ -14,14 +14,14 @@
 # ==============================================================================
 """Generates the keyword-map header from src/xml/mjcf.schema.
 
-Emits src/xml/mjcf_map.h: one mjMap array and size constant per schema
+Emits src/xml/generated/mjcf_map.h: one mjMap array and size constant per schema
 enum, as C++17 inline variables, so the reader, the writer and the
 generated tables share one definition with no extern declarations to
 maintain. It is checked in and gated by test/doc/doc_test.py, which
 regenerates it from the schema and diffs.
 """
 
-import os
+import os  # pylint: disable=unused-import
 import sys
 
 _SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
@@ -29,7 +29,7 @@ sys.path.insert(0, _SCRIPT_DIR)
 import mjcf_schema
 _REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
 SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
-_GUARD = 'MUJOCO_SRC_XML_MJCF_MAP_H_'
+_GUARD = 'MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_'
 
 _INCLUDES = '''\
 #include <mujoco/mjspec.h>
@@ -83,6 +83,7 @@ _FOOTER = '''\
 
 
 def generate() -> str:
+  """Generates the mjcf_map.h content as a string."""
   schema = mjcf_schema.parse_file(SCHEMA_PATH)
   out = []
   for enum in schema.enums.values():

doc/generate/generate_mjcf_table.py

@@ -14,7 +14,7 @@
 # ==============================================================================
 """Generates the MJCF[] grammar table from src/xml/mjcf.schema.
 
-The table (src/xml/mjcf_table.inc) is the element tree consumed by the
+The table (src/xml/generated/mjcf_table.inc) is the element tree consumed by the
 mjXSchema validator: rows of {name, cardinality, attributes...} with
 {"<"}/{">"} nesting markers. It is checked in and gated by
 test/doc/doc_test.py, which regenerates it from the schema and diffs.

doc/generate/generate_read_table.py

@@ -14,9 +14,9 @@
 # ==============================================================================
 """Generates keyword maps and typed attribute-read rows from mjcf.schema.
 
-Emits src/xml/mjcf_read_table.inc: per-element mjXAttr row arrays consumed by
+Emits src/xml/generated/mjcf_read_table.inc: per-element mjXAttr row arrays
-mjXReader::ReadAttrTable, plus the kSensorDispatch tag table and shared group
+consumed by mjXReader::ReadAttrTable, plus the kSensorDispatch tag table and
-arrays.
+shared group arrays.
 
 Which elements get rows is determined automatically: every schema element with
 a bound spec struct and at least one table-drivable attribute is included,
@@ -29,7 +29,7 @@ compile errors, and the field's C type (parsed from mjspec.h) selects the row
 kind, so mjtNum vs double is decided by the struct, not by the schema.
 """
 
-import os
+import os  # pylint: disable=unused-import
 import re
 import sys
 

doc/generate/generate_schema.py

@@ -124,7 +124,7 @@ def generate() -> str:
   """
   script_dir = os.path.dirname(os.path.abspath(__file__))
   repo_root = os.path.dirname(os.path.dirname(script_dir))
-  filepath = os.path.join(repo_root, 'src', 'xml', 'mjcf_table.inc')
+  filepath = os.path.join(repo_root, 'src', 'xml', 'generated', 'mjcf_table.inc')
   xmlfile = os.path.join(repo_root, 'doc', 'XMLreference.rst')
 
   # Collect all link targets from XMLreference.rst for validation.

src/xml/generated/mjcf_map.h

@@ -19,8 +19,8 @@
 // the generated tables. Inline variables: including this header is all a
 // translation unit needs.
 
-#ifndef MUJOCO_SRC_XML_MJCF_MAP_H_
+#ifndef MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_
-#define MUJOCO_SRC_XML_MJCF_MAP_H_
+#define MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_
 
 #include <mujoco/mjspec.h>
 #include <mujoco/mjtype.h>
@@ -486,4 +486,4 @@ inline constexpr mjMap flexeq_map[] = {
 inline constexpr int flexeq_sz = 4;
 // clang-format on
 
-#endif  // MUJOCO_SRC_XML_MJCF_MAP_H_
+#endif  // MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_

src/xml/xml_base.h

@@ -25,7 +25,7 @@
 
 
 // keyword maps, one per schema enum, generated into mjcf_map.h
-#include "xml/mjcf_map.h"  // IWYU pragma: export
+#include "xml/generated/mjcf_map.h"  // IWYU pragma: export
 
 //---------------------------------- Base XML class ------------------------------------------------
 

src/xml/xml_native_reader.cc

@@ -165,13 +165,13 @@ static void UpdateString(string& psuffix, int count, int i) {
 
 
 //---------------------------------- MJCF schema ---------------------------------------------------
-#include "mjcf_table.inc"
+#include "xml/generated/mjcf_table.inc"
 
 //---------------------------------- class mjXReader implementation --------------------------------
 
 // typed attribute rows, generated from mjcf.schema; the keyword maps the
 // rows reference are generated into mjcf_map.h
-#include "mjcf_read_table.inc"
+#include "xml/generated/mjcf_read_table.inc"
 
 
 mjXReader::mjXReader()

src/xml/xml_native_writer.cc

@@ -39,7 +39,7 @@
 #include "tinyxml2.h"
 
 // typed attribute rows, generated from mjcf.schema; shared with the reader
-#include "mjcf_read_table.inc"
+#include "xml/generated/mjcf_read_table.inc"
 
 namespace {
 

test/doc/doc_test.py

@@ -88,7 +88,8 @@ class DocTest(googletest.TestCase):
 
   def test_mjcf_table(self):
     """Checks that mjcf_table.inc matches the schema-generated output."""
-    table_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf_table.inc')
+    table_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'generated',
+                              'mjcf_table.inc')
     source = generate_mjcf_table.generate()
     with open(table_file, 'r', encoding='utf-8') as file:
       if source != file.read():
@@ -96,7 +97,7 @@ class DocTest(googletest.TestCase):
 
   def test_default_table(self):
     """Checks that mjcf_default_table.inc matches the schema-generated output."""
-    table_file = os.path.join(_REPO_ROOT, 'src', 'xml',
+    table_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'generated',
                               'mjcf_default_table.inc')
     source = generate_default_table.generate()
     with open(table_file, 'r', encoding='utf-8') as file:
@@ -105,7 +106,8 @@ class DocTest(googletest.TestCase):
 
   def test_mjcf_map(self):
     """Checks that mjcf_map.h matches the schema-generated output."""
-    map_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf_map.h')
+    map_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'generated',
+                            'mjcf_map.h')
     source = generate_mjcf_map.generate()
     with open(map_file, 'r', encoding='utf-8') as file:
       if source != file.read():
@@ -113,7 +115,8 @@ class DocTest(googletest.TestCase):
 
   def test_read_table(self):
     """Checks that mjcf_read_table.inc matches the schema-generated output."""
-    table_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf_read_table.inc')
+    table_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'generated',
+                              'mjcf_read_table.inc')
     source = generate_read_table.generate()
     with open(table_file, 'r', encoding='utf-8') as file:
       if source != file.read():

test/xml/schema_defaults_test.cc

@@ -24,7 +24,7 @@
 #include <mujoco/mjspec.h>
 #include "test/fixture.h"
 
-#include "src/xml/mjcf_default_table.inc"
+#include "src/xml/generated/mjcf_default_table.inc"
 
 namespace mujoco {
 namespace {