Yuval Tassa
58f6d52491
PiperOrigin-RevId: 930744288 Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
134 lines
4.3 KiB
Python
134 lines
4.3 KiB
Python
# Copyright 2025 DeepMind Technologies Limited
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
"""Utility functions for code generation."""
|
|
|
|
import os
|
|
from typing import Union
|
|
from introspect import ast_nodes
|
|
from wasm.codegen.generators import constants
|
|
|
|
|
|
def write_to_file(filepath: str, content: str) -> None:
|
|
"""Writes content to a file."""
|
|
output_dir = os.path.dirname(filepath)
|
|
|
|
try:
|
|
if output_dir:
|
|
os.makedirs(output_dir, exist_ok=True)
|
|
with open(filepath, "w") as f:
|
|
chars = f.write(content)
|
|
print(f"wrote {chars} characters to file '{filepath}'")
|
|
except IOError as e:
|
|
print(f"Error writing to output file: {filepath} - {e}")
|
|
|
|
|
|
def decapitalize(input_string: str) -> str:
|
|
"""Lowercases the first letter of a string."""
|
|
return input_string[:1].lower() + input_string[1:]
|
|
|
|
|
|
def capitalize(input_string: str) -> str:
|
|
"""Uppercases the first letter of a string."""
|
|
return input_string[:1].upper() + input_string[1:]
|
|
|
|
|
|
def replace_lines_containing_marker(
|
|
lines: list[str],
|
|
marker: str,
|
|
content: list[str],
|
|
) -> list[str]:
|
|
"""Replaces lines containing a specific marker with new content."""
|
|
for i, line in enumerate(lines):
|
|
if marker in line:
|
|
indent = line[: len(line) - len(line.lstrip(" "))]
|
|
replacement_lines = []
|
|
for text in content:
|
|
if text.strip():
|
|
# Prepend indent to ensure the first replacement line matches the
|
|
# indentation of the marker and also ensure that text containing
|
|
# newlines is also indented correctly.
|
|
# TODO(matijak): This is working around an upstream problem, we should
|
|
# make it a precondition that content elements do not contain newlines
|
|
# and fix callers to ensure that.
|
|
replacement_lines.append(
|
|
indent + text.replace("\n", f"\n{indent}") + "\n"
|
|
)
|
|
return lines[:i] + replacement_lines + lines[i + 1 :]
|
|
return lines
|
|
|
|
|
|
def get_pointer_return_inner_value_type(
|
|
func: ast_nodes.FunctionDecl,
|
|
) -> ast_nodes.ValueType | None:
|
|
if not isinstance(func.return_type, ast_nodes.PointerType):
|
|
return None
|
|
if not isinstance(func.return_type.inner_type, ast_nodes.ValueType):
|
|
return None
|
|
return func.return_type.inner_type
|
|
|
|
|
|
def get_inner_value_type(
|
|
param: ast_nodes.FunctionParameterDecl,
|
|
) -> ast_nodes.ValueType | None:
|
|
if not isinstance(param.type, (ast_nodes.PointerType, ast_nodes.ArrayType)):
|
|
return None
|
|
if not isinstance(param.type.inner_type, ast_nodes.ValueType):
|
|
return None
|
|
return param.type.inner_type
|
|
|
|
|
|
def is_struct_value_type(
|
|
t: Union[ast_nodes.ValueType, ast_nodes.ArrayType, ast_nodes.PointerType],
|
|
) -> bool:
|
|
"""Checks if a type is a struct passed by value."""
|
|
if isinstance(t, ast_nodes.ValueType):
|
|
return (
|
|
t.name not in constants.PRIMITIVE_TYPES
|
|
and t.name != "void"
|
|
and not t.name.startswith("mjf")
|
|
)
|
|
return False
|
|
|
|
|
|
def should_be_wrapped(func: ast_nodes.FunctionDecl) -> bool:
|
|
"""Checks if a MuJoCo function needs a wrapper function."""
|
|
if get_pointer_return_inner_value_type(func):
|
|
return True
|
|
if is_struct_value_type(func.return_type):
|
|
return True
|
|
for param in func.parameters:
|
|
if get_inner_value_type(param) or is_struct_value_type(param.type):
|
|
return True
|
|
return False
|
|
|
|
|
|
def wrapped_struct_name(c_struct_name: str) -> str:
|
|
"""Returns the name of the struct wrapping the given C struct."""
|
|
return capitalize(c_struct_name)
|
|
|
|
|
|
def wrapped_function_name(func: ast_nodes.FunctionDecl) -> str:
|
|
"""Returns the name of the function wrapping the given C function.
|
|
|
|
Hard-coded wrappers in the template need changing if the implementation of the
|
|
wrapped name is changed
|
|
|
|
Args:
|
|
func: The FunctionDecl of function to wrap.
|
|
"""
|
|
if should_be_wrapped(func):
|
|
return f"{func.name}_wrapper"
|
|
return func.name
|