Various minor cleanups to WASM code generation
* Add newline function to code_builder * Remove type aliases which made jump to definition less ergonomic * Add types to constants PiperOrigin-RevId: 827863199 Change-Id: Ib4390d398926466ecce491a3d0ebe308ed5e0cbe
This commit is contained in:
Matija Kecman
committed by
Copybara-Service
Copybara-Service
parent
10130297c0
commit
c22d94e470
@@ -14,9 +14,10 @@
|
||||
|
||||
"""Constants used in the code generation process."""
|
||||
|
||||
from typing import List, Set, Dict
|
||||
from introspect import structs as introspect_structs
|
||||
|
||||
PRIMITIVE_TYPES = {
|
||||
PRIMITIVE_TYPES: Set[str] = {
|
||||
# go/keep-sorted start
|
||||
"char",
|
||||
"double",
|
||||
@@ -36,7 +37,7 @@ PRIMITIVE_TYPES = {
|
||||
# go/keep-sorted end
|
||||
}
|
||||
|
||||
_PLUGIN_FUNCTIONS = [
|
||||
_PLUGIN_FUNCTIONS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mj_getPluginConfig",
|
||||
"mj_loadAllPluginLibraries",
|
||||
@@ -61,7 +62,7 @@ _PLUGIN_FUNCTIONS = [
|
||||
]
|
||||
|
||||
# Functions that are bound as class methods
|
||||
_CLASS_METHODS = [
|
||||
_CLASS_METHODS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mj_compile",
|
||||
"mj_copyData",
|
||||
@@ -83,12 +84,12 @@ _CLASS_METHODS = [
|
||||
]
|
||||
|
||||
# Omitted because not very useful
|
||||
_WRITABLE_ERROR = [
|
||||
_WRITABLE_ERROR: List[str] = [
|
||||
"mj_printSchema",
|
||||
]
|
||||
|
||||
# Omitted thread management functions
|
||||
_THREAD_FUNCTIONS = [
|
||||
_THREAD_FUNCTIONS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mju_bindThreadPool",
|
||||
"mju_defaultTask",
|
||||
@@ -100,7 +101,7 @@ _THREAD_FUNCTIONS = [
|
||||
]
|
||||
|
||||
# Omitted asset cache functions
|
||||
_ASSET_CACHE_FUNCTIONS = [
|
||||
_ASSET_CACHE_FUNCTIONS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mj_clearCache",
|
||||
"mj_getCache",
|
||||
@@ -111,7 +112,7 @@ _ASSET_CACHE_FUNCTIONS = [
|
||||
]
|
||||
|
||||
# Omitted Virtual Filesystem (VFS) functions
|
||||
_VFS_FUNCTIONS = [
|
||||
_VFS_FUNCTIONS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mj_addBufferVFS",
|
||||
"mj_addFileVFS",
|
||||
@@ -122,7 +123,7 @@ _VFS_FUNCTIONS = [
|
||||
]
|
||||
|
||||
# Omitted irrelevant visual functions
|
||||
_VISUAL_FUNCTIONS = [
|
||||
_VISUAL_FUNCTIONS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mjv_averageCamera",
|
||||
"mjv_copyData",
|
||||
@@ -133,7 +134,7 @@ _VISUAL_FUNCTIONS = [
|
||||
# go/keep-sorted end
|
||||
]
|
||||
|
||||
_MEMORY_FUNCTIONS = [
|
||||
_MEMORY_FUNCTIONS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mj_freeLastXML",
|
||||
"mj_freeStack",
|
||||
@@ -159,7 +160,7 @@ _MEMORY_FUNCTIONS = [
|
||||
# go/keep-sorted end
|
||||
]
|
||||
|
||||
_GETTERS_AND_SETTERS = [
|
||||
_GETTERS_AND_SETTERS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mjs_appendFloatVec",
|
||||
"mjs_appendIntVec",
|
||||
@@ -180,14 +181,14 @@ _GETTERS_AND_SETTERS = [
|
||||
# go/keep-sorted end
|
||||
]
|
||||
|
||||
_UTILITY_FUNCTIONS = [
|
||||
_UTILITY_FUNCTIONS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mju_getXMLDependencies",
|
||||
# go/keep-sorted end
|
||||
]
|
||||
|
||||
# List of functions that should be skipped during the code generation process.
|
||||
SKIPPED_FUNCTIONS = (
|
||||
SKIPPED_FUNCTIONS: List[str] = (
|
||||
_CLASS_METHODS +
|
||||
_THREAD_FUNCTIONS +
|
||||
_MEMORY_FUNCTIONS +
|
||||
@@ -203,7 +204,7 @@ SKIPPED_FUNCTIONS = (
|
||||
# Functions that require special wrappers to infer sizes and make additional
|
||||
# validation checks. These functions are not bound automatically but are
|
||||
# written by hand instead.
|
||||
BOUNDCHECK_FUNCS = [
|
||||
BOUNDCHECK_FUNCS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mj_addM",
|
||||
"mj_angmomMat",
|
||||
@@ -287,7 +288,7 @@ BOUNDCHECK_FUNCS = [
|
||||
]
|
||||
|
||||
# List of structs that should be skipped during the code generation process.
|
||||
SKIPPED_STRUCTS = [
|
||||
SKIPPED_STRUCTS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mjCache",
|
||||
"mjSDF",
|
||||
@@ -309,7 +310,7 @@ SKIPPED_STRUCTS = [
|
||||
# Anonymous structs are not defined as independent structs in the MuJoCo
|
||||
# codebase, but they are part of other structs. This dictionary is used to
|
||||
# handle them as if they were independent structs.
|
||||
ANONYMOUS_STRUCTS = {
|
||||
ANONYMOUS_STRUCTS: Dict[str, Dict[str, str]] = {
|
||||
# go/keep-sorted start
|
||||
"mjVisualGlobal": {"parent": "mjVisual", "field_name": "global"},
|
||||
"mjVisualHeadlight": {"parent": "mjVisual", "field_name": "headlight"},
|
||||
@@ -322,14 +323,14 @@ ANONYMOUS_STRUCTS = {
|
||||
|
||||
# This list is created by subtracting the skipped structs from the list of all
|
||||
# structs and adding the anonymous structs.
|
||||
STRUCTS_TO_BIND = list(
|
||||
STRUCTS_TO_BIND: List[str] = list(
|
||||
(set(introspect_structs.STRUCTS.keys()) - set(SKIPPED_STRUCTS)).union(
|
||||
ANONYMOUS_STRUCTS.keys()
|
||||
)
|
||||
)
|
||||
|
||||
# List of structs that do not have a default constructor.
|
||||
NO_DEFAULT_CONSTRUCTORS = [
|
||||
NO_DEFAULT_CONSTRUCTORS: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"mjContact",
|
||||
"mjSolverStat",
|
||||
@@ -349,7 +350,7 @@ NO_DEFAULT_CONSTRUCTORS = [
|
||||
# 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 = [
|
||||
MJDATA_SIZES: List[str] = [
|
||||
# go/keep-sorted start
|
||||
"contact",
|
||||
"efc_AR",
|
||||
@@ -421,7 +422,7 @@ MJDATA_SIZES = [
|
||||
|
||||
# Dictionary where keys are the struct names and the values are lists of the
|
||||
# fields that are manually specified in the bindings.cc template file.
|
||||
MANUALLY_ADDED_FIELDS_FROM_TEMPLATE = {
|
||||
MANUALLY_ADDED_FIELDS_FROM_TEMPLATE: Dict[str, List[str]] = {
|
||||
# go/keep-sorted start
|
||||
"MjData": ["solver", "timer", "warning", "contact"],
|
||||
"MjSpec": ["option", "visual", "stat", "element", "compiler"],
|
||||
@@ -456,7 +457,7 @@ MANUALLY_ADDED_FIELDS_FROM_TEMPLATE = {
|
||||
# When generating the code for these fields, a specific cast to `uint8_t*` is
|
||||
# required for embind. This dictionary is used to register those fields and
|
||||
# their sizes.
|
||||
BYTE_FIELDS = {
|
||||
BYTE_FIELDS: Dict[str, Dict[str, str]] = {
|
||||
"buffer": {"size": "nbuffer"},
|
||||
"arena": {"size": "narena"},
|
||||
}
|
||||
@@ -464,12 +465,12 @@ BYTE_FIELDS = {
|
||||
# Boolean flag to enable debug prints during the struct wrapper and binding
|
||||
# generation process. When set to `True`, it will print additional information
|
||||
# about the steps being executed.
|
||||
STRUCT_DEBUG_MODE = False
|
||||
STRUCT_DEBUG_MODE: bool = False
|
||||
|
||||
# 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.
|
||||
HARDCODED_WRAPPER_STRUCTS = [
|
||||
HARDCODED_WRAPPER_STRUCTS: List[str] = [
|
||||
"MjData",
|
||||
"MjModel",
|
||||
"MjvScene",
|
||||
|
||||
Reference in New Issue
Block a user