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
89 lines
3.1 KiB
Python
89 lines
3.1 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 typing import Optional
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from wasm.codegen.helpers import constants
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from wasm.codegen.helpers import structs_parser
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from wasm.codegen.helpers import structs_wrappers_data
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class Generator:
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"""Generates C++ code for binding and wrapping MuJoCo structs."""
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def __init__(self):
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# Set up the correct input dict based on the structs we want to bind
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# and already have a wrapper manually created in the template/bindings.cc
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wrapped_structs = structs_wrappers_data.create_wrapped_structs_set_up_data(
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constants.STRUCTS_TO_BIND
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)
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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_parser.generate_wasm_bindings(
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wrapped_structs
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)
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def generate_header(
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self
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) -> list[tuple[str, list[Optional[str]]]]:
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"""Generates C++ header file for binding and wrapping MuJoCo structs."""
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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_parser.sort_structs_by_dependency(
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constants.STRUCTS_TO_BIND
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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_STRUCT_DEFINITIONS }}",
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autogenned_struct_definitions,
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))
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return markers_and_content
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def generate_source(self) -> list[tuple[str, list[str]]]:
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"""Generates C++ source file for binding and wrapping MuJoCo structs."""
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constructors = [
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(
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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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for _, struct_data in self.structs_to_bind_data.items()
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]
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properties = [
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(
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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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for _, struct_data in self.structs_to_bind_data.items()
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]
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return constructors + properties
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