Refactor: Group autogenerated structs source in bindings.cc
This change modifies the code generation for structs in `bindings.cc`. Instead of placing each struct's constructor and member functions under individual markers, all autogenerated struct source code is now grouped together under a single `// {{ AUTOGENNED_STRUCTS_SOURCE }}` marker. This improves the organization of the generated file and simplifies the template.
Future work would move the rest of the structs into this pattern
PiperOrigin-RevId: 828390272
Change-Id: Iee9d0e8766db86b2c1d4296a37ac7a8e6e05428b
This commit is contained in:
Google DeepMind
committed by
Copybara-Service
Copybara-Service
parent
5b00b033af
commit
fe1b6b7c80
+614
-659
File diff suppressed because it is too large
Load Diff
@@ -57,17 +57,23 @@ class Generator:
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autogenned_struct_definitions,
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))
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for _, struct_data in self.structs_to_bind_data.items():
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# Bindings
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autogenned_struct_source = []
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for struct_name in sorted_struct_names:
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struct_data = self.structs_to_bind_data[struct_name]
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if struct_data.wrapped_source:
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autogenned_struct_source.append(
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struct_data.wrapped_source + "\n"
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)
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# Bindings with markers
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markers_and_content.append((
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f"// INSERT-GENERATED-{struct_data.wrap_name}-BINDINGS",
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[l.binding for l in struct_data.wrapped_fields],
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))
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# Special member functions
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markers_and_content.append((
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f"// INSERT-GENERATED-{struct_data.wrap_name}-CONSTRUCTOR",
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[struct_data.wrapped_source],
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))
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markers_and_content.append((
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"// {{ AUTOGENNED_STRUCTS_SOURCE }}",
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autogenned_struct_source,
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))
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return markers_and_content
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@@ -592,6 +592,16 @@ def build_struct_source(
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wrapped_fields: List[WrappedFieldData],
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):
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"""Builds the C++ .cc file code for a struct."""
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# These structs require specific function calls for creation and/or deletion
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# which, for now, are hardcoded in the template file.
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if struct_name in [
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"mjData",
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"mjModel",
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"mjvScene",
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"mjSpec",
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]:
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return ""
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s = struct_name
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w = common.uppercase_first_letter(s)
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is_mjs = "Mjs" in w
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@@ -447,41 +447,7 @@ EMSCRIPTEN_BINDINGS(mujoco_enums) {
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}
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// STRUCTS
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// =============== MjLROpt =============== //
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// INSERT-GENERATED-MjLROpt-CONSTRUCTOR
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// =============== MjOption =============== //
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// INSERT-GENERATED-MjOption-CONSTRUCTOR
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// =============== MjStatistic =============== //
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// INSERT-GENERATED-MjStatistic-CONSTRUCTOR
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// =============== MjVisual... =============== //
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// INSERT-GENERATED-MjVisualGlobal-CONSTRUCTOR
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// INSERT-GENERATED-MjVisualQuality-CONSTRUCTOR
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// INSERT-GENERATED-MjVisualHeadlight-CONSTRUCTOR
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// INSERT-GENERATED-MjVisualMap-CONSTRUCTOR
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// INSERT-GENERATED-MjVisualScale-CONSTRUCTOR
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// INSERT-GENERATED-MjVisualRgba-CONSTRUCTOR
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// INSERT-GENERATED-MjVisual-CONSTRUCTOR
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// =============== MjSolverStat =============== //
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// INSERT-GENERATED-MjSolverStat-CONSTRUCTOR
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// =============== MjTimerStat =============== //
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// INSERT-GENERATED-MjTimerStat-CONSTRUCTOR
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// =============== MjWarningStat =============== //
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// INSERT-GENERATED-MjWarningStat-CONSTRUCTOR
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// =============== MjContact =============== //
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// INSERT-GENERATED-MjContact-CONSTRUCTOR
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// {{ AUTOGENNED_STRUCTS_SOURCE }}
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// =============== MjModel =============== //
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MjModel::MjModel(mjModel *m)
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@@ -559,25 +525,7 @@ std::vector<MjContact> MjData::contact() const {
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}
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return contacts;
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}
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// =============== MjvPerturb =============== //
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// INSERT-GENERATED-MjvPerturb-CONSTRUCTOR
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// =============== MjvCamera =============== //
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// INSERT-GENERATED-MjvCamera-CONSTRUCTOR
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// =============== MjvGLCamera =============== //
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// INSERT-GENERATED-MjvGLCamera-CONSTRUCTOR
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// =============== MjvGeom =============== //
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// INSERT-GENERATED-MjvGeom-CONSTRUCTOR
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// =============== MjvLight =============== //
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// INSERT-GENERATED-MjvLight-CONSTRUCTOR
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// =============== MjvOption =============== //
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// INSERT-GENERATED-MjvOption-CONSTRUCTOR
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// =============== MjvScene =============== //
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MjvScene::MjvScene() {
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owned_ = true;
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ptr_ = new mjvScene;
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@@ -667,16 +615,6 @@ std::vector<MjvGeom> MjvScene::geoms() const {
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return geoms;
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}
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// =============== MjvFigure =============== //
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// INSERT-GENERATED-MjvFigure-CONSTRUCTOR
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// =============== MjsElement =============== //
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// INSERT-GENERATED-MjsElement-CONSTRUCTOR
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// =============== MjsCompiler =============== //
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// INSERT-GENERATED-MjsCompiler-CONSTRUCTOR
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// =============== MjSpec =============== //
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MjSpec::MjSpec()
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: ptr_(mj_makeSpec()),
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option(&ptr_->option),
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@@ -732,90 +670,6 @@ MjSpec::~MjSpec() {
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mjSpec *MjSpec::get() const { return ptr_; }
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void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
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// =============== MjsOrientation =============== //
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// INSERT-GENERATED-MjsOrientation-CONSTRUCTOR
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// =============== MjsBody =============== //
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// INSERT-GENERATED-MjsBody-CONSTRUCTOR
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// =============== MjsGeom =============== //
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// INSERT-GENERATED-MjsGeom-CONSTRUCTOR
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// =============== MjsFrame =============== //
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// INSERT-GENERATED-MjsFrame-CONSTRUCTOR
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// =============== MjsJoint =============== //
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// INSERT-GENERATED-MjsJoint-CONSTRUCTOR
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// =============== MjsSite =============== //
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// INSERT-GENERATED-MjsSite-CONSTRUCTOR
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// =============== MjsCamera =============== //
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// INSERT-GENERATED-MjsCamera-CONSTRUCTOR
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// =============== MjsLight =============== //
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// INSERT-GENERATED-MjsLight-CONSTRUCTOR
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// =============== MjsFlex =============== //
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// INSERT-GENERATED-MjsFlex-CONSTRUCTOR
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// =============== MjsMesh =============== //
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// INSERT-GENERATED-MjsMesh-CONSTRUCTOR
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// =============== MjsHField =============== //
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// INSERT-GENERATED-MjsHField-CONSTRUCTOR
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// =============== MjsSkin =============== //
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// INSERT-GENERATED-MjsSkin-CONSTRUCTOR
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// =============== MjsTexture =============== //
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// INSERT-GENERATED-MjsTexture-CONSTRUCTOR
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// =============== MjsMaterial =============== //
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// INSERT-GENERATED-MjsMaterial-CONSTRUCTOR
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// =============== MjsPair =============== //
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// INSERT-GENERATED-MjsPair-CONSTRUCTOR
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// =============== MjsExclude =============== //
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// INSERT-GENERATED-MjsExclude-CONSTRUCTOR
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// =============== MjsEquality =============== //
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// INSERT-GENERATED-MjsEquality-CONSTRUCTOR
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// =============== MjsTendon =============== //
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// INSERT-GENERATED-MjsTendon-CONSTRUCTOR
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// =============== MjsWrap =============== //
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// INSERT-GENERATED-MjsWrap-CONSTRUCTOR
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// =============== MjsActuator =============== //
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// INSERT-GENERATED-MjsActuator-CONSTRUCTOR
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// =============== MjsSensor =============== //
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// INSERT-GENERATED-MjsSensor-CONSTRUCTOR
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// =============== MjsNumeric =============== //
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// INSERT-GENERATED-MjsNumeric-CONSTRUCTOR
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// =============== MjsText =============== //
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// INSERT-GENERATED-MjsText-CONSTRUCTOR
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// =============== MjsTuple =============== //
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// INSERT-GENERATED-MjsTuple-CONSTRUCTOR
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// =============== MjsKey =============== //
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// INSERT-GENERATED-MjsKey-CONSTRUCTOR
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// =============== MjsDefault =============== //
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// INSERT-GENERATED-MjsDefault-CONSTRUCTOR
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// =============== MjsPlugin =============== //
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// INSERT-GENERATED-MjsPlugin-CONSTRUCTOR
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// =============== MjVFS =============== //
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// INSERT-GENERATED-MjVFS-CONSTRUCTOR
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// ======= FACTORY AND HELPER FUNCTIONS ========= //
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std::unique_ptr<MjModel> loadFromXML(std::string filename) {
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char error[1000];
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