Matias Manevi
4086261714
Co-authored-by: Matija Kecman <matijak@google.com> Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar> Co-authored-by: Kyle Bayes <kylebayes@google.com> PiperOrigin-RevId: 826479070 Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
94 lines
3.0 KiB
Python
94 lines
3.0 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 functions."""
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import pathlib
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from typing import List, Mapping, TypeAlias
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from introspect import ast_nodes
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from wasm.codegen.helpers import code_builder
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from wasm.codegen.helpers import function_utils
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FunctionDecl: TypeAlias = ast_nodes.FunctionDecl
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FunctionParameterDecl: TypeAlias = ast_nodes.FunctionParameterDecl
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PointerType: TypeAlias = ast_nodes.PointerType
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ValueType: TypeAlias = ast_nodes.ValueType
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Path: TypeAlias = pathlib.Path
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class Generator:
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"""Generates Embind bindings for MuJoCo functions."""
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def __init__(self, functions: Mapping[str, FunctionDecl]):
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self.direct_bind_functions: List[FunctionDecl] = []
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self.wrapper_bind_functions: List[FunctionDecl] = []
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for func in functions.values():
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if function_utils.should_be_wrapped(func):
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self.wrapper_bind_functions.append(func)
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else:
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self.direct_bind_functions.append(func)
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def _generate_wrappers(self) -> str:
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"""Generates Embind bindings for all functions that need wrappers."""
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code = []
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for func in self.wrapper_bind_functions:
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wrapper_code = function_utils.generate_function_wrapper(func)
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code.append(wrapper_code)
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return "\n\n".join(code)
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def _generate_direct_bindable_functions(self) -> str:
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"""Generates Embind bindings for all directly bindable functions."""
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result = ""
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for func in self.direct_bind_functions:
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result += code_builder.INDENT
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result += self._generate_function_binding(func)
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return result
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def _generate_function_binding(
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self, func: FunctionDecl, is_wrapper=False
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) -> str:
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"""Generates the Embind code for a single function."""
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js_name, cpp_func = func.name, func.name
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if is_wrapper:
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cpp_func += "_wrapper"
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return f'function("{js_name}", &{cpp_func});\n'
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def _generate_wrapper_bindable_functions(self) -> str:
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"""Generates Embind bindings for all functions that need wrappers."""
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result = ""
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for func in self.wrapper_bind_functions:
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result += code_builder.INDENT
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result += self._generate_function_binding(func, True)
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return result
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def generate(self) -> tuple[str, str]:
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"""Generates the bindings file for all functions."""
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wrapper_functions = self._generate_wrappers()
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function_bindings = self._generate_direct_bindable_functions()
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function_bindings += self._generate_wrapper_bindable_functions()
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return wrapper_functions, function_bindings
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