Saran Tunyasuvunakool
a07ae6f849
Introduce a new header `gil.h` defining `MutexLockIfGilDisabled` to support thread-safety in both standard and free-threaded CPython builds. Protect critical shared states and registries: - Guard global Python callback pointers in `callbacks.cc` using a mutex. Move `gil_scoped_acquire` into local blocks around refcount modifications to prevent `longjmp` from bypassing destructors. - Protect raw pointer maps in `structs_wrappers.cc` with static mutexes. - Replace TOCTOU race in `mjcb_time` initialization with thread-safe `std::call_once`. - Add synchronization to lazy indexer array cache initialization in `indexers.cc` and `indexer_xmacro.h`. - Protect vector mutations in `StructListBase::PopulateUpTo` in `structs.h` with a mutex. - Revert unnecessary atomic changes to threadpool counters. - Declare free-threading compatibility by passing `pybind11::mod_gil_not_used()` to all extension modules. Fixes #3259 Fixes #3256 Fixes #2978 PiperOrigin-RevId: 941101502 Change-Id: Iec4ce58afcbc75d4b0be6a9a21fc8a47854242e3
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
// Copyright 2026 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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// https://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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#include <mujoco/experimental/platform/hal/renderer.h>
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#include <cstddef>
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#include <memory>
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#include <optional>
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#include <string>
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#include <vector>
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#include <mujoco/mujoco.h>
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#include <mujoco/experimental/platform/hal/graphics_mode.h>
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#include "structs.h"
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#include <pybind11/eval.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/pytypes.h>
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#include <pybind11/stl.h>
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namespace mujoco::python {
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class Renderer {
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public:
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using RendererImpl = mujoco::platform::Renderer;
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using GraphicsMode = mujoco::platform::GraphicsMode;
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Renderer(const std::string& graphics_mode_str) {
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py::gil_scoped_release no_gil;
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const GraphicsMode mode = mujoco::platform::GraphicsModeFromString(
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graphics_mode_str, GraphicsMode::FilamentOpenGl);
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impl_ = std::make_unique<RendererImpl>(nullptr, mode);
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}
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void Init(const MjModelWrapper& model) {
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py::gil_scoped_release no_gil;
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impl_->Init(model.get());
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}
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pybind11::bytes Render(const MjModelWrapper& model, MjDataWrapper& data,
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std::optional<MjvPerturbWrapper>& perturb,
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std::optional<MjvCameraWrapper>& camera,
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std::optional<MjvOptionWrapper>& vis_option, int width,
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int height) {
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std::vector<std::byte> pixels(width * height * 3);
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{
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py::gil_scoped_release no_gil;
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impl_->Render(
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model.get(), data.get(), perturb ? perturb.value().get() : nullptr,
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camera ? camera.value().get() : nullptr,
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vis_option ? vis_option.value().get() : nullptr, width, height, pixels);
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}
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return pybind11::bytes((const char*)pixels.data(), pixels.size());
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}
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pybind11::memoryview GetRenderFlags() {
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return pybind11::memoryview::from_buffer(
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impl_->GetRenderFlags(), {static_cast<pybind11::ssize_t>(mjNRNDFLAG)},
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{sizeof(mjtByte)});
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}
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private:
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std::unique_ptr<RendererImpl> impl_;
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};
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} // namespace mujoco::python
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PYBIND11_MODULE(renderer, m, pybind11::mod_gil_not_used()) {
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pybind11::module_::import("mujoco._structs");
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pybind11::class_<mujoco::python::Renderer>(m, "Renderer")
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.def(pybind11::init<const std::string&>())
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.def("Init", &mujoco::python::Renderer::Init)
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.def("Render", &mujoco::python::Renderer::Render)
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.def("get_render_flags", &mujoco::python::Renderer::GetRenderFlags,
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pybind11::keep_alive<0, 1>());
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}
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