Google DeepMind
3577c98f82
PiperOrigin-RevId: 828550215 Change-Id: Iab0bf3a9fbaca4d7774f89a4d8977e762aa57629
86 lines
2.9 KiB
Python
86 lines
2.9 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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"""Generates Embind bindings for MuJoCo structs."""
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from wasm.codegen.helpers import constants
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from wasm.codegen.helpers import structs
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class Generator:
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"""Generates C++ code for binding and wrapping MuJoCo structs."""
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def generate(self) -> list[tuple[str, list[str]]]:
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"""Generates C++ header file for binding and wrapping MuJoCo structs."""
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# Traverse the introspect dictionary to get the field
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# wrapper/bindings statements set up for each struct
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self.structs_to_bind_data = structs.generate_wasm_bindings(
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constants.STRUCTS_TO_BIND
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)
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autogenned_struct_definitions = []
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markers_and_content = []
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# Sort by struct name by dependency to ensure deterministic output order
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sorted_struct_names = structs.sort_structs_by_dependency(
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self.structs_to_bind_data
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)
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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_header:
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autogenned_struct_definitions.append(
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struct_data.wrapped_header + "\n"
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)
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else:
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markers_and_content.append((
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f"// INSERT-GENERATED-{struct_data.wrap_name}-DEFINITIONS",
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[
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l.definition if l.definition else ""
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for l in struct_data.wrapped_fields
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],
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))
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markers_and_content.append((
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"// {{ AUTOGENNED_STRUCTS_HEADER }}",
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autogenned_struct_definitions,
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))
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autogenned_struct_source = []
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autogenned_struct_bindings = []
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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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if struct_data.bindings:
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autogenned_struct_bindings.append(struct_data.bindings)
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else:
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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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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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markers_and_content.append((
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"// {{ AUTOGENNED_STRUCTS_BINDINGS }}",
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autogenned_struct_bindings,
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))
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return markers_and_content
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