Export netimgui files in MuJoCo Copybara configuration for use with the upcoming Web Viewer

PiperOrigin-RevId: 954769526 Change-Id: I4cdee083082f7d55c2babd5e664ec0283a2aaf63
2026-07-27 12:31:15 -07:00
parent c7b6e0b8dd
commit ca5337161d
40 changed files with 15483 additions and 0 deletions
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+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     https://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef THIRD_PARTY_NETIMGUI_GOOGLE_LOGGING_H_
+#define THIRD_PARTY_NETIMGUI_GOOGLE_LOGGING_H_
+
+#include <time.h>
+
+#include <chrono>
+#include <cstdarg>
+#include <cstdio>
+#include <cstring>
+
+#if defined(__EMSCRIPTEN__)
+#include <emscripten/console.h>
+#endif
+
+namespace NetImgui {
+
+enum class LogSeverity { kInfo, kWarning, kError };
+
+// Set to 1 or higher to enable VLOG messages at runtime.
+constexpr int kLogVerbosity = 0;
+
+__attribute__((format(printf, 4, 5))) inline void NetImGuiLog(
+    LogSeverity severity, const char* file, int line, const char* fmt, ...) {
+  char buf[1024];
+  const char* basename = strrchr(file, '/');
+  basename = basename ? basename + 1 : file;
+
+  auto now_tp = std::chrono::system_clock::now();
+  time_t now = std::chrono::system_clock::to_time_t(now_tp);
+  auto now_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+                      now_tp.time_since_epoch())
+                      .count() %
+                  1000000;
+  struct tm tm_info;
+  localtime_r(&now, &tm_info);
+
+  const char severity_char = severity == LogSeverity::kError     ? 'E'
+                             : severity == LogSeverity::kWarning ? 'W'
+                                                                 : 'I';
+
+  int prefix_len = snprintf(
+      buf, sizeof(buf), "%c%02d%02d %02d:%02d:%02d.%06d %s:%d] ", severity_char,
+      tm_info.tm_mon + 1, tm_info.tm_mday, tm_info.tm_hour, tm_info.tm_min,
+      tm_info.tm_sec, static_cast<int>(now_usec), basename, line);
+  if (prefix_len < 0 || prefix_len >= static_cast<int>(sizeof(buf))) {
+    prefix_len = 0;  // overwrite prefix on error or truncation
+  }
+
+  va_list args;
+  va_start(args, fmt);
+  vsnprintf(buf + prefix_len, sizeof(buf) - prefix_len, fmt, args);
+  va_end(args);
+
+  if (severity == LogSeverity::kInfo) {
+#if defined(__EMSCRIPTEN__)
+    emscripten_out(buf);
+#else
+    fputs(buf, stdout);
+    fputc('\n', stdout);
+    fflush(stdout);
+#endif
+  } else {
+#if defined(__EMSCRIPTEN__)
+    emscripten_err(buf);
+#else
+    fputs(buf, stderr);
+    fputc('\n', stderr);
+    fflush(stderr);
+#endif
+  }
+}
+
+}  // namespace NetImgui
+
+#define LOG(severity, fmt, ...)                                           \
+  ::NetImgui::NetImGuiLog(::NetImgui::LogSeverity::k##severity, __FILE__, \
+                          __LINE__, fmt, ##__VA_ARGS__)
+
+#define VLOG(level, fmt, ...)                                           \
+  do {                                                                  \
+    if (::NetImgui::kLogVerbosity >= (level))                           \
+      ::NetImgui::NetImGuiLog(::NetImgui::LogSeverity::kInfo, __FILE__, \
+                              __LINE__, fmt, ##__VA_ARGS__);            \
+  } while (0)
+
+#endif  // THIRD_PARTY_NETIMGUI_GOOGLE_LOGGING_H_