Sam Haves
f5d3ce3451
Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern. Encoders serialize an mjSpec + mjModel to an mjResource for a given format. New API functions: - mjp_registerEncoder: globally register an encoder - mjp_defaultEncoder: zero-initialize an encoder struct - mjp_findEncoder: look up an encoder by filename extension or content type The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and returns 0 on success. Writing to mjResource keeps symmetry with the decoder reading from mjResource and leaves the door open for writable resource providers. PiperOrigin-RevId: 889187898 Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
105 lines
4.1 KiB
C
105 lines
4.1 KiB
C
// Copyright 2022 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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#ifndef MUJOCO_SRC_ENGINE_ENGINE_PLUGIN_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_PLUGIN_H_
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#include <mujoco/mjexport.h>
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#include <mujoco/mjplugin.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// set default plugin definition
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MJAPI void mjp_defaultPlugin(mjpPlugin* plugin);
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// globally register a plugin (thread-safe), return new slot id
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MJAPI int mjp_registerPlugin(const mjpPlugin* plugin);
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// globally register a resource provider (thread-safe), return new slot id
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MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider);
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// return the number of globally registered plugins
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MJAPI int mjp_pluginCount(void);
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// return the number of globally registered resource providers
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MJAPI int mjp_resourceProviderCount(void);
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// look up a plugin by name, optionally also get its registered slot number
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MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
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// set default resource provider definition
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MJAPI void mjp_defaultResourceProvider(mjpResourceProvider* provider);
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// look up a resource provider that matches its prefix against the given resource name
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MJAPI const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
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// look up a plugin by slot number
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MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
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// look up a resource provider by slot number
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MJAPI const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
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// return a config attribute of a plugin instance
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// NULL: invalid plugin instance ID or attribute name
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MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
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// load plugins from a dynamic library
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MJAPI void mj_loadPluginLibrary(const char* path);
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// scan a directory and load all dynamic libraries
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MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
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// registers a resource decoder
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MJAPI void mjp_registerDecoder(const mjpDecoder* decoder);
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// set default decoder definition
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MJAPI void mjp_defaultDecoder(mjpDecoder* decoder);
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// find a decoder that can process a given resource
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MJAPI const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type);
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// registers a resource encoder
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MJAPI void mjp_registerEncoder(const mjpEncoder* encoder);
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// set default encoder definition
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MJAPI void mjp_defaultEncoder(mjpEncoder* encoder);
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// find an encoder that can write a given format
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MJAPI const mjpEncoder* mjp_findEncoder(const char* filename, const char* content_type);
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// =================================================================================================
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// MuJoCo-internal functions beyond this point.
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// "Unsafe" suffix indicates that improper use of these functions may result in data races.
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//
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// The unsafe functions assume that mjp_pluginCount has already been called, and that all plugins
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// up to `count` have been completely written into the global table.
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// =================================================================================================
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// internal version of mjp_registerResourceProvider without prechecks on reserved prefixes
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MJAPI int mjp_registerResourceProviderInternal(const mjpResourceProvider* provider);
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// look up a plugin by name, assuming that mjp_pluginCount has already been called
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const mjpPlugin* mjp_getPluginUnsafe(const char* name, int* slot, int nslot);
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// look up a plugin by slot number, assuming that mjp_pluginCount has already been called
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const mjpPlugin* mjp_getPluginAtSlotUnsafe(int slot, int nslot);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_PLUGIN_H_
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