Saran Tunyasuvunakool
a2de04f5be
PiperOrigin-RevId: 559436458 Change-Id: I56b8a595885f3f3d3ecb7a00db5f1bd70e5f95d9
123 lines
3.7 KiB
Python
123 lines
3.7 KiB
Python
# 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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# ==============================================================================
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"""Code generator for function_traits.h."""
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import keyword
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from typing import Mapping, Sequence
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from absl import app
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from introspect import ast_nodes
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from introspect import functions
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FUNCTIONS: Mapping[str, ast_nodes.FunctionDecl] = functions.FUNCTIONS
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def _sanitize_keyword(s: str) -> str:
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if keyword.iskeyword(s):
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return s + '_'
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return s
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def main(argv: Sequence[str]) -> None:
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if len(argv) > 1:
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raise app.UsageError('Too many command-line arguments.')
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struct_decls = []
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for func in FUNCTIONS.values():
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# Skip mju_error_{i,s} and mju_warning_{i,s} as these are not
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# supported in the Python bindings, and Introspect currently
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# doesn't support variadic functions.
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if func.name.startswith('mju_error') or func.name == 'mju_warning':
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continue
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# Modify some parameter types.
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parameters = []
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modified = False
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for p in func.parameters:
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# Expose array parameters as pointer-to-arrays so that we can determine
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# array extents in C++ templates.
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if isinstance(p.type, ast_nodes.ArrayType):
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parameters.append(ast_nodes.FunctionParameterDecl(
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name=p.name, type=ast_nodes.PointerType(
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ast_nodes.ArrayType(
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inner_type=p.type.inner_type, extents=p.type.extents))))
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modified = True
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else:
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parameters.append(p)
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if modified:
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func = ast_nodes.FunctionDecl(
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name=func.name, return_type=func.return_type,
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parameters=parameters, doc=func.doc)
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getfunc = f'*reinterpret_cast<type*>(&::{func.name})'
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else:
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getfunc = f'::{func.name}'
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param_names = ', '.join(
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f'"{_sanitize_keyword(p.name)}"' for p in parameters
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)
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struct_decls.append(f"""
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struct {func.name} {{
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static constexpr char name[] = "{func.name}";
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static constexpr char doc[] = "{func.doc}";
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using type = {func.decltype};
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static constexpr auto param_names = std::make_tuple({param_names});
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MUJOCO_ALWAYS_INLINE static type& GetFunc() {{
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return {getfunc};
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}}
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}};
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""".strip())
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all_structs = '\n\n'.join(struct_decls)
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print(f"""
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// 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_PYTHON_CODEGEN_FUNCTION_TRAITS_H_
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#define MUJOCO_PYTHON_CODEGEN_FUNCTION_TRAITS_H_
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#include <tuple>
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#include <mujoco/mujoco.h>
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#include "util/crossplatform.h"
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namespace mujoco::python_traits {{
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{all_structs}
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}} // namespace mujoco::python_traits
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#endif // MUJOCO_PYTHON_CODEGEN_FUNCTION_TRAITS_H_
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""".lstrip())
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if __name__ == '__main__':
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app.run(main)
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