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Get rid of unnecessary return value policy specification.

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PiperOrigin-RevId: 649437250
Change-Id: I61f8db0af526ebf667244124fcd4984881c6ef13
This commit is contained in:
Saran Tunyasuvunakool
2024-07-04 09:44:03 -07:00
committed by Copybara-Service
parent 47d25bc4ac
commit d029e4ff99
1 changed files with 28 additions and 17 deletions
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python/mujoco/codegen/generate_spec_bindings.py
+28 -17
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@@ -22,11 +22,16 @@ from introspect import ast_nodes
from introspect import structs from introspect import structs
def _scalar_binding_code( SCALAR_TYPES = {'int', 'double', 'float', 'mjtByte', 'mjtNum'}
def _value_binding_code(
field: ast_nodes.ValueType, classname: str = '', varname: str = '' field: ast_nodes.ValueType, classname: str = '', varname: str = ''
) -> str: ) -> str:
"""Creates a string that defines Python bindings for a scalar type.""" """Creates a string that defines Python bindings for a value type."""
fulltype = field.name + '&' # default return type is by reference fulltype = field.name
if field.name not in SCALAR_TYPES:
fulltype += '&'
fullvarname = varname fullvarname = varname
rawclassname = classname.replace('mjs', 'raw::Mjs') rawclassname = classname.replace('mjs', 'raw::Mjs')
if classname == 'mjSpec': # raw mjSpec has a wrapper if classname == 'mjSpec': # raw mjSpec has a wrapper
@@ -36,15 +41,21 @@ def _scalar_binding_code(
fulltype = field.name.replace('mjs', 'raw::Mjs') fulltype = field.name.replace('mjs', 'raw::Mjs')
if field.name != 'mjsPlugin' and field.name != 'mjsOrientation': if field.name != 'mjsPlugin' and field.name != 'mjsOrientation':
fulltype = fulltype + '*' # plugin and orientation are pointers fulltype = fulltype + '*' # plugin and orientation are pointers
return f"""\
{classname}.def_property( def_property_args = (
"{varname}", f'"{varname}"',
[]({rawclassname}& self) -> {fulltype} {{ f"""[]({rawclassname}& self) -> {fulltype} {{
return self.{fullvarname}; return self.{fullvarname};
}}, }}""",
[]({rawclassname}& self, {fulltype} {varname}) {{ f"""[]({rawclassname}& self, {fulltype} {varname}) {{
(self.{fullvarname}) = {varname}; self.{fullvarname} = {varname};
}}, py::return_value_policy::reference_internal);""" }}""",
)
if field.name not in SCALAR_TYPES:
def_property_args += ('py::return_value_policy::reference_internal',)
return f'{classname}.def_property({",".join(def_property_args)});'
def _array_binding_code( def _array_binding_code(
@@ -76,7 +87,7 @@ def _array_binding_code(
[]({rawclassname}& self, py::object rhs) {{ []({rawclassname}& self, py::object rhs) {{
int i = 0; int i = 0;
for (auto val : rhs) {{ for (auto val : rhs) {{
self.{fullvarname}[i++] = (py::cast<char>(val)); self.{fullvarname}[i++] = py::cast<char>(val);
}} }}
}}, py::return_value_policy::reference_internal);""" }}, py::return_value_policy::reference_internal);"""
# all other array types # all other array types
@@ -103,8 +114,8 @@ def _ptr_binding_code(
fullvarname = 'ptr->' + varname fullvarname = 'ptr->' + varname
if vartype == 'mjsElement': # this is ignored by the caller if vartype == 'mjsElement': # this is ignored by the caller
return 'mjsElement' return 'mjsElement'
if vartype.startswith('mjs'): # for structs, use the scalar case if vartype.startswith('mjs'): # for structs, use the value case
return _scalar_binding_code(field.inner_type, classname, varname) return _value_binding_code(field.inner_type, classname, varname)
elif vartype == 'mjString': # C++ string -> Python string elif vartype == 'mjString': # C++ string -> Python string
return f"""\ return f"""\
{classname}.def_property( {classname}.def_property(
@@ -114,8 +125,8 @@ def _ptr_binding_code(
}}, }},
[]({rawclassname}& self, std::string_view {varname}) {{ []({rawclassname}& self, std::string_view {varname}) {{
*(self.{fullvarname}) = {varname}; *(self.{fullvarname}) = {varname};
}}, py::return_value_policy::reference_internal);""" }});"""
elif ( # C++ vectors of scalars -> Python array elif ( # C++ vectors of values -> Python array
vartype == 'mjDoubleVec' vartype == 'mjDoubleVec'
or vartype == 'mjFloatVec' or vartype == 'mjFloatVec'
or vartype == 'mjIntVec' or vartype == 'mjIntVec'
@@ -183,7 +194,7 @@ def _ptr_binding_code(
def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str: def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str:
if isinstance(field.type, ast_nodes.ValueType): if isinstance(field.type, ast_nodes.ValueType):
return _scalar_binding_code(field.type, key, field.name) return _value_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.PointerType): elif isinstance(field.type, ast_nodes.PointerType):
return _ptr_binding_code(field.type, key, field.name) return _ptr_binding_code(field.type, key, field.name)
elif isinstance(field.type, ast_nodes.ArrayType): elif isinstance(field.type, ast_nodes.ArrayType):