Google DeepMind
095608ef5f
Add parseXMLString overload that supports passing in an MjVFS. PiperOrigin-RevId: 940579266 Change-Id: I8294988bc4279e80795fab21024f64562a9e6743
76 lines
2.5 KiB
Python
76 lines
2.5 KiB
Python
# Copyright 2025 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from introspect import enums as introspect_enums
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from introspect import functions as introspect_functions
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from wasm.codegen.generators import common
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from wasm.codegen.generators import constants
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from wasm.codegen.generators import enums
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from wasm.codegen.generators import functions
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from wasm.codegen.generators import structs
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class BindingBuilder:
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"""Builds WASM bindings for MuJoCo."""
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def __init__(self):
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self.markers_and_content = []
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def set_enums(self):
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"""Generates and sets the enum bindings."""
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self.markers_and_content += enums.generate(
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list(introspect_enums.ENUMS.values())
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)
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return self
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def set_structs(self):
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"""Generates and sets the struct bindings."""
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self.markers_and_content += structs.generate(constants.STRUCTS_TO_BIND)
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return self
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def set_functions(self):
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"""Generates and sets the function wrappers and bindings."""
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functions_to_bind = []
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for name, func in introspect_functions.FUNCTIONS.items():
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if not functions.is_excluded_function_name(name):
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functions_to_bind.append(func)
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self.markers_and_content += functions.generate(functions_to_bind)
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return self
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def build_string(self, template_path: str) -> str:
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"""Applies the accumulated bindings to a template file and returns the output."""
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with open(template_path, "r") as f:
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content = f.readlines()
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for marker, lines in self.markers_and_content:
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content = common.replace_lines_containing_marker(
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content, marker, lines
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)
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text = "".join(content)
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text = text.replace(
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"// limitations under the License.\n\n",
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"// limitations under the License.\n\n// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.\n\n",
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1,
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)
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return text
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def build_file(self, template_path: str, generated_path: str):
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"""Applies the accumulated bindings to a template file and writes the output."""
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text = self.build_string(template_path)
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common.write_to_file(generated_path, text)
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