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
53 lines
1.8 KiB
C++
53 lines
1.8 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 <memory>
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#include <string_view>
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#include <mujoco/mujoco.h>
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#include <mujoco/experimental/platform/sim/model_holder.h>
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#include "structs.h"
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#include <pybind11/pybind11.h>
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namespace mujoco::python {
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// Loads, parses, and compiles a MuJoCo model from the given file. Returns the
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// python mjData object (which also contains the compiled mjModel).
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py::object Parse(std::string_view filepath) {
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std::unique_ptr<platform::ModelHolder> holder;
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{
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py::gil_scoped_release no_gil;
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holder = platform::ModelHolder::FromFile(filepath);
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}
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if (!holder->ok()) {
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throw py::value_error(
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std::string("Failed to load model from '") +
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std::string(filepath) + "': " + std::string(holder->error()));
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}
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mjModel* model = holder->ReleaseModel();
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mjData* data = holder->ReleaseData();
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py::object py_model = py::cast(MjModelWrapper(model));
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py::object py_data =
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py::cast(MjDataWrapper(py::cast<MjModelWrapper*>(py_model), data));
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return py_data;
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}
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} // namespace mujoco::python
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PYBIND11_MODULE(parser, m, pybind11::mod_gil_not_used()) {
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pybind11::module_::import("mujoco._structs");
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m.def("parse", &mujoco::python::Parse,
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pybind11::return_value_policy::take_ownership);
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}
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