Yuval Tassa
cffb077c4b
PiperOrigin-RevId: 933624252 Change-Id: Ib214514ac5390137dbf1034d113ff8aa9e9cdeb1
87 lines
2.3 KiB
C++
87 lines
2.3 KiB
C++
// 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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// 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 "xml/xml_global.h"
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#include <cstdlib>
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#include <mutex>
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#include <string>
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#include <type_traits>
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#include <mujoco/mujoco.h>
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#include "xml/xml.h"
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#include "xml/xml_util.h"
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namespace {
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// global user model class
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class GlobalModel {
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public:
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// deletes current model and takes ownership of model
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void Set(mjSpec* spec = nullptr);
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// writes XML to string
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std::string ToXML(const mjModel* m, char* error, int error_sz);
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private:
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// using raw pointers as GlobalModel needs to be trivially destructible
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std::mutex* mutex_ = new std::mutex();
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mjSpec* spec_ = nullptr;
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};
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std::string GlobalModel::ToXML(const mjModel* m, char* error,
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int error_sz) {
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std::lock_guard<std::mutex> lock(*mutex_);
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if (!spec_) {
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mjCopyError(error, "No XML model loaded", error_sz);
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return "";
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}
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return WriteXML(m, spec_, error, error_sz);
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}
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GlobalModel& GetGlobalModel();
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void GlobalModel::Set(mjSpec* spec) {
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static std::once_flag atexit_once;
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std::call_once(atexit_once, []() {
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std::atexit([]() { GetGlobalModel().Set(nullptr); });
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});
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std::lock_guard<std::mutex> lock(*mutex_);
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if (spec_ != nullptr) {
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mj_deleteSpec(spec_);
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}
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spec_ = spec;
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}
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// returns a single instance of the global model
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GlobalModel& GetGlobalModel() {
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static GlobalModel global_model;
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// global variables must be trivially destructible
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static_assert(std::is_trivially_destructible_v<decltype(global_model)>);
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return global_model;
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}
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} // namespace
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void SetGlobalXmlSpec(mjSpec* spec) {
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GetGlobalModel().Set(spec);
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}
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std::string GetGlobalXmlSpec(const mjModel* m, char* error, int error_sz) {
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return GetGlobalModel().ToXML(m, error, error_sz);
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}
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