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
102 lines
2.5 KiB
C++
102 lines
2.5 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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#include <utility>
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#include <vector>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtype.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mujoco.h>
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#include <pybind11/cast.h>
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#include <pybind11/pybind11.h>
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namespace mujoco::python {
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namespace {
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namespace py = ::pybind11;
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template <auto N>
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py::tuple MakeTuple(
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const char* (&strings)[N]) {
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py::list result;
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for (int i = 0; i < N; i++) {
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result.append(py::str(strings[i]));
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}
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return std::move(result);
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}
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template <auto N>
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py::tuple MakeTuple(const char* (&strings)[N][3]) {
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py::list result;
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for (int i = 0; i < N; i++) {
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result.append(py::make_tuple(
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py::str(strings[i][0]),
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py::str(strings[i][1]),
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py::str(strings[i][2])));
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}
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return std::move(result);
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}
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PYBIND11_MODULE(_constants, pymodule, pybind11::mod_gil_not_used()) {
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#define X(var) pymodule.attr(#var) = var
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// from mjmodel.h
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X(mjPI);
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X(mjMAXVAL);
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X(mjMINMU);
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X(mjMINIMP);
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X(mjMAXIMP);
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X(mjMAXCONPAIR);
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X(mjMAXTREEDEPTH);
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X(mjMAXFLEXNODES);
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X(mjMINAWAKE);
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X(mjNEQDATA);
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X(mjNDYN);
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X(mjNGAIN);
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X(mjNBIAS);
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X(mjNFLUID);
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X(mjNREF);
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X(mjNIMP);
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X(mjNSENS);
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X(mjNSOLVER);
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X(mjNISLAND);
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X(mjNPOLY);
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// from mjvisualize.h
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X(mjNGROUP);
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X(mjMAXLIGHT);
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X(mjMAXOVERLAY);
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X(mjMAXLINE);
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X(mjMAXLINEPNT);
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X(mjMAXPLANEGRID);
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// from mujoco.h
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X(mjVERSION_HEADER);
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// from mjtype.h
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X(mjMINVAL);
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#undef X
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pymodule.attr("mjDISABLESTRING") = MakeTuple(mjDISABLESTRING);
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pymodule.attr("mjENABLESTRING") = MakeTuple(mjENABLESTRING);
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pymodule.attr("mjTIMERSTRING") = MakeTuple(mjTIMERSTRING);
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pymodule.attr("mjLABELSTRING") = MakeTuple(mjLABELSTRING);
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pymodule.attr("mjFRAMESTRING") = MakeTuple(mjFRAMESTRING);
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pymodule.attr("mjVISSTRING") = MakeTuple(mjVISSTRING);
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pymodule.attr("mjRNDSTRING") = MakeTuple(mjRNDSTRING);
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pymodule.attr("MJTNUM_BYTES") = sizeof(mjtNum);
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}
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} // namespace
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} // namespace mujoco::python
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