Matija Kecman
29c1a3a0a5
PiperOrigin-RevId: 827965451 Change-Id: I657fc4d3a480fbc62124c84fe9ddc0900a91183f
77 lines
2.5 KiB
Python
77 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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"""Builds WASM bindings for MuJoCo."""
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from introspect import ast_nodes
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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 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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from wasm.codegen.helpers import common
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from wasm.codegen.helpers import constants as _constants
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from wasm.codegen.helpers import functions as function_utils
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class BindingBuilder:
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"""Builds WASM bindings for MuJoCo."""
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def __init__(
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self,
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template_path_cc: str,
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):
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with open(template_path_cc, "r") as f:
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self.content_cc = f.readlines()
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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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generator = enums.Generator(introspect_enums.ENUMS)
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self.markers_and_content += generator.generate()
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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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generator = structs.Generator()
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self.markers_and_content += generator.generate()
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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: dict[str, ast_nodes.FunctionDecl] = {}
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for name, func in introspect_functions.FUNCTIONS.items():
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if not function_utils.is_excluded_function_name(name):
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if name not in _constants.BOUNDCHECK_FUNCS:
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functions_to_bind[name] = func
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generator = functions.Generator(functions_to_bind)
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self.markers_and_content += generator.generate()
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return self
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def to_string(self) -> str:
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for marker, content in self.markers_and_content:
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self.content_cc = common.replace_lines_containing_marker(
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self.content_cc, marker, content
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)
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return "".join(self.content_cc)
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def build(self, generated_path_cc: str):
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"""Writes the generated content to the output files."""
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common.write_to_file(generated_path_cc, self.to_string())
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