Matija Kecman
0dfa4b509a
This change replaces fixed callback protocols (e.g., ViewerGuiHook, ViewerUpdateHook, SimEventHandler) with a general-purpose, priority-based message and event handling mechanism. Key changes: - Handler decorator and registry: Introduced the `@messages.handler(priority=...)` decorator and `HandlerRegistry` (`handler_registry.py`). Methods marked as handlers are automatically discovered and dispatched by priority (CRITICAL, USER, LIBRARY, INTERNAL) or method resolution order. - Local lifecycle events: Added `ViewerAppInitEvent`, `BuildGuiEvent`, and `UpdateEvent` to `messages.py`. Custom GUI rendering and per-frame update logic can now be implemented as standard event handlers without needing separate interface protocols. - Streamlined launch and app APIs: Replaced individual hook and handler arguments in `launch_passive`, `ViewerApp`, and `ViewerHandle` with unified `viewer_handlers` and `sim_handlers` lists. - Module restructuring: Extracted simulation-side message handling and `ViewerHandle` from `sim_app.py` into a dedicated `viewer_handle.py` module, removing `sim_app.py`. - Sample updates: Migrated existing examples (such as `implot.py`) to use the new handler pattern and lifecycle events. PiperOrigin-RevId: 941729322 Change-Id: I93e7c0edf0a13a8dc854f9e2083451f7c25a1825
63 lines
2.4 KiB
Python
63 lines
2.4 KiB
Python
# 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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"""Internal handler registration, metadata stamping, and runtime dispatching."""
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import collections
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from typing import Any, Callable
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from mujoco.experimental.studio import messages
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def _discover_handlers(
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handler_obj: Any,
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) -> list[tuple[messages._HandlerInfo, Callable[..., Any]]]:
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"""Scan an object for methods marked with handler decorators."""
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handlers = []
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for name in dir(type(handler_obj)):
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unbound = getattr(type(handler_obj), name, None)
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if unbound is None:
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continue
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info = getattr(unbound, messages._HANDLER_INFO_ATTR, None) # pylint: disable=protected-access
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if info is None:
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continue
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bound = getattr(handler_obj, name)
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handlers.append((info, bound))
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return handlers
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class HandlerRegistry:
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"""Runtime registry of discovered handlers from handler instances."""
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def __init__(self, handlers: list[Any] | None = None) -> None:
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self.handlers: dict[
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type[messages.Message], list[tuple[int, Callable[..., Any]]]
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] = collections.defaultdict(list)
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for obj in handlers or []:
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for info, bound_method in _discover_handlers(obj):
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self.handlers[info.message_type].append((info.priority, bound_method))
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def dispatch(self, message: Any) -> None:
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"""Dispatches a message to registered handlers in priority order."""
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# Collect all matching handlers for the given message class and all its
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# ancestors/superclasses.
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message_handlers = []
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for message_type in type(message).__mro__:
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message_handlers.extend(self.handlers.get(message_type, []))
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# Sort by priority; higher values execute first.
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message_handlers.sort(key=lambda item: item[0], reverse=True)
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for _, handler in message_handlers:
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if handler(message):
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# Handler returned True to consume the message; stop dispatching.
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return
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