Yuval Tassa
135b482c9d
-- 7f117fa7a7060b36687e7544e8d7393d14a1fa90 by Yuval Tassa <tassa@google.com>: Handle clang AST loc nodes with elided 'line' in introspect codegen. Apple's math.h (included directly by mujoco.h) contains an anonymous union whose clang-JSON 'loc' lacks the 'line' key (clang elides it when unchanged from the previous node), crashing AstProcessor._make_anonymous_key with a KeyError during bindings regeneration on macOS. glibc's math.h has no such union, so this never bites on Linux. Fall back to an offset-based key for line-less nodes; these system-header structs are never referenced by MuJoCo types, so the key only needs to be unique. COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3411 from yuvaltassa:introspect-loc-fallback 7f117fa7a7060b36687e7544e8d7393d14a1fa90 PiperOrigin-RevId: 949626713 Change-Id: I9d99b427885ede18b075db6d4e507aa8bc0d049a
370 lines
13 KiB
Python
370 lines
13 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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# 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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"""Parses MuJoCo enums, structs, and functions from a Clang AST JSON dump.
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The JSON input can be generated with, e.g:
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clang -Xclang -ast-dump=json -fsyntax-only -fparse-all-comments -x c mujoco.h
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"""
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import itertools
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import json
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import os
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import re
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from typing import Any, Mapping, Union
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from introspect import ast_nodes
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from introspect import type_parsing
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_ANONYMOUS_KEY_PATTERN = re.compile(r'\d+:\d+(?=\))')
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_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s+\(([^\(\)]+) x ([^\(\)]+)\)\Z')
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ClangJsonNode = Mapping[str, Any]
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class _AnonymousTypePlaceholder(ast_nodes.ValueType):
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def __init__(self, anonymous_key: str):
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self.name = anonymous_key
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self.is_const = False
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self.is_volatile = False
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class AstProcessor:
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"""A Clang AST JSON node visitor for."""
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def __init__(self, raw_headers: Mapping[str, str], excluded: list[str]):
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self._enums = {}
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self._exported_enums = {}
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self._raw_headers = raw_headers
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self._excluded = set(excluded)
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self._current_source = ''
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self._exported_functions = {}
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self._structs = {}
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self._anonymous = {}
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self._exported_structs = {}
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self._type_aliases = {}
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@property
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def exported_enums(self) -> Mapping[str, ast_nodes.EnumDecl]:
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return self._exported_enums
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@property
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def exported_functions(self) -> Mapping[str, ast_nodes.FunctionDecl]:
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return self._exported_functions
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@property
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def exported_structs(self) -> Mapping[str, ast_nodes.StructDecl]:
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return self._exported_structs
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@property
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def type_aliases(self) -> Mapping[str, str]:
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return self._type_aliases
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def visit(self, node: ClangJsonNode) -> None:
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"""Visits a JSON node and stores information about API elements."""
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if 'loc' in node and 'file' in node['loc']:
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self._current_source = os.path.basename(node['loc']['file'])
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node_kind = node.get('kind')
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node_name = node.get('name', '')
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if (
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node_kind == 'FunctionDecl'
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and node_name.startswith('mj')
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and node_name not in self._excluded
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):
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func_decl = self._make_function(node)
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self._exported_functions[func_decl.name] = func_decl
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elif node_kind == 'EnumDecl' and node_name.startswith('mj'):
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enum_decl = self._make_enum(node)
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self._enums[enum_decl.name] = enum_decl
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elif node_kind == 'RecordDecl' and self._is_mujoco_type(node):
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struct_decl = self._make_struct(node)
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if hasattr(struct_decl, 'name'):
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self._structs[struct_decl.name] = struct_decl
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else:
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anonymous_key = self._make_anonymous_key(node)
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if anonymous_key in self._anonymous:
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raise RuntimeError(
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f'duplicate key for anonymous struct: {anonymous_key}')
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self._anonymous[anonymous_key] = struct_decl
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elif (node_kind == 'TypedefDecl' and
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node['type']['qualType'].startswith('enum mj')):
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enum = self._enums[node['type']['qualType']]
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self._exported_enums[node_name] = ast_nodes.EnumDecl(
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name=node_name, declname=enum.declname, values=dict(enum.values))
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elif (node_kind == 'TypedefDecl' and
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node['type']['qualType'].startswith('struct mj') and
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node_name not in self._excluded):
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declname = node['type']['qualType']
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try:
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struct = self._structs[declname]
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except KeyError:
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self._exported_structs[node_name] = ast_nodes.StructDecl(
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name=node_name, declname=declname, fields=())
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else:
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self._exported_structs[node_name] = ast_nodes.StructDecl(
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name=node_name, declname=struct.declname, fields=struct.fields)
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elif (node_kind == 'TypedefDecl' and node_name.startswith('mj')):
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qual_type = str(node['type']['qualType'])
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self._type_aliases[node_name] = qual_type
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def resolve(self) -> None:
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"""Replaces anonymous struct placeholders with corresponding decl."""
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for struct in itertools.chain(
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self._structs.values(), self._exported_structs.values()
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):
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fields = []
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for field in struct.fields:
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if isinstance(field, _AnonymousTypePlaceholder):
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fields.append(self._anonymous[field.name])
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elif isinstance(field.type, _AnonymousTypePlaceholder):
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fields.append(
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ast_nodes.StructFieldDecl(
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name=field.name,
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type=self._anonymous[field.type.name],
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doc=field.doc,
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)
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)
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else:
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fields.append(field)
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struct.fields = tuple(fields)
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def _make_enum(self, node: ClangJsonNode) -> ast_nodes.EnumDecl:
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"""Makes a EnumDecl from a Clang AST EnumDecl node."""
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name = f"enum {node['name']}"
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values = []
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for child in node['inner']:
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child_kind = child.get('kind')
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if child_kind == 'EnumConstantDecl':
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next_idx = values[-1][1] + 1 if values else 0
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if 'inner' in child:
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value = int(child['inner'][0].get('value', next_idx))
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else:
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value = next_idx
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values.append((child['name'], value))
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return ast_nodes.EnumDecl(name=name, declname=name, values=dict(values))
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def _make_function(self, node: ClangJsonNode) -> ast_nodes.FunctionDecl:
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"""Makes a FunctionDecl from a Clang AST FunctionDecl node."""
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name = node['name']
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return_type = type_parsing.parse_function_return_type(
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node['type']['qualType'])
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parameters = []
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comments = []
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nullable_params = set()
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for child in node['inner']:
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child_kind = child.get('kind')
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if child_kind == 'FullComment':
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comments.append(self._make_function_comment(child))
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nullable_params.update(self._find_nullable_params(child))
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comment = ' '.join(comments).strip()
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for child in node['inner']:
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child_kind = child.get('kind')
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if child_kind == 'ParmVarDecl':
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parameters.append(self._make_parameter(child, nullable_params))
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return ast_nodes.FunctionDecl(
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name=name, return_type=return_type, parameters=parameters, doc=comment)
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def _find_nullable_params(self, node: ClangJsonNode) -> set[str]:
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"""Finds the names of parameters that are marked as nullable."""
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nullable_params = set()
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for child in node['inner']:
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child_kind = child.get('kind')
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if child_kind == 'ParagraphComment':
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nullable_params.update(self._find_nullable_params(child))
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if child_kind == 'TextComment':
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if 'Nullable' in child['text']:
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for param in child['text'].split(':')[1].split(','):
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nullable_params.add(param.strip())
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return nullable_params
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def _make_parameter(
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self, node: ClangJsonNode, nullable_params: set[str]
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) -> ast_nodes.FunctionParameterDecl:
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"""Makes a ParameterDecl from a Clang AST ParmVarDecl node."""
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name = node['name']
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type_name = node['type']['qualType']
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nullable = name in nullable_params
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# For a pointer parameters, look up in the original header to see if
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# n array extent was declared there.
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if type_name.endswith('*'):
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decl_begin = node['range']['begin']['offset']
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decl_end = node['range']['end']['offset'] + node['range']['end']['tokLen']
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decl = self._raw_headers[self._current_source][decl_begin:decl_end]
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name_begin = node['loc']['offset'] - decl_begin
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name_end = name_begin + node['loc']['tokLen']
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type_name = decl[:name_begin] + decl[name_end:]
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return ast_nodes.FunctionParameterDecl(
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nullable=nullable,
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name=name,
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type=type_parsing.parse_type(type_name),
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)
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def _make_function_comment(self, node: ClangJsonNode) -> str:
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"""Makes a comment string from a Clang AST FullComment node."""
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kind = node.get('kind')
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if kind == 'TextComment':
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return node['text'].replace('\N{NO-BREAK SPACE}', ' ')
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else:
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strings = []
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for child in node['inner']:
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comment = self._make_function_comment(child)
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nullable_index = comment.find('Nullable:')
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if nullable_index != -1:
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comment = comment[:nullable_index]
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strings.append(comment)
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return ''.join(strings)
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def _make_struct_comment(
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self, node: ClangJsonNode, strip: bool = True
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) -> str:
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"""Makes a comment string from a Clang AST FullComment node."""
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kind = node.get('kind')
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if kind == 'TextComment':
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retval = node['text'].replace('\N{NO-BREAK SPACE}', ' ')
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else:
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strings = []
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for child in node['inner']:
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strings.append(self._make_struct_comment(child, strip=False))
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retval = ''.join(strings)
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if strip:
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retval = retval.strip()
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return retval
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def _normalize_type(
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self, declname: str
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) -> Union[
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ast_nodes.ValueType, ast_nodes.PointerType, ast_nodes.ArrayType]:
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"""Resolves anonymous structs/unions and looks up existing typedefs."""
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# Check for anonymous struct/union.
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if '(unnamed ' in declname:
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m = _ANONYMOUS_KEY_PATTERN.search(declname)
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if not m:
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raise RuntimeError('cannot parse anonymous key from {m!r}')
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return _AnonymousTypePlaceholder(m.group(0))
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# Lookup typedef name and use it instead if one exists.
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for k, v in self._exported_structs.items():
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if declname == v.declname:
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return type_parsing.parse_type(k)
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# No valid normalization, just parse the declname.
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return type_parsing.parse_type(declname)
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def _make_field(
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self, node: ClangJsonNode
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) -> Union[ast_nodes.StructFieldDecl, _AnonymousTypePlaceholder]:
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"""Makes a StructFieldDecl object from a Clang AST FieldDecl node."""
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doc = ''
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for child in node.get('inner', ()):
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if child['kind'] == 'FullComment':
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doc = self._make_struct_comment(child)
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if 'name' in node:
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field_type = self._normalize_type(node['type']['qualType'])
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m = _ARRAY_COMMENT_PATTERN.match(doc)
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if m is None:
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array_extent = None
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else:
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doc = m.group(1)
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array_extent_0 = m.group(2)
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array_extent_1 = m.group(3)
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try:
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array_extent_1 = int(array_extent_1)
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except ValueError:
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pass
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if array_extent_1 == 1:
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array_extent = (array_extent_0,)
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else:
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array_extent = (array_extent_0, array_extent_1)
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return ast_nodes.StructFieldDecl(
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name=node['name'], type=field_type, doc=doc,
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array_extent=array_extent)
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else:
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return _AnonymousTypePlaceholder(self._make_anonymous_key(node))
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def _make_struct(
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self, node: ClangJsonNode
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) -> Union[ast_nodes.AnonymousStructDecl, ast_nodes.StructDecl]:
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"""Makes a Decl object from a Clang AST RecordDecl node."""
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name = f"{node['tagUsed']} {node['name']}" if 'name' in node else ''
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fields = []
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for child in node.get('inner', ()):
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child_kind = child.get('kind')
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if child_kind == 'FieldDecl':
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fields.append(self._make_field(child))
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if name:
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return ast_nodes.StructDecl(name=name, declname=name, fields=fields)
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elif node['tagUsed'] == 'union':
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return ast_nodes.AnonymousUnionDecl(fields=fields)
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else:
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return ast_nodes.AnonymousStructDecl(fields=fields)
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def _is_mujoco_type(self, node: ClangJsonNode) -> bool:
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node_name = node.get('name', '')
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included_from = os.path.basename(
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node['loc'].get('includedFrom', {}).get('file', '')
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)
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return node_name not in self._excluded and (
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node_name.startswith('mj')
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or included_from == 'mujoco.h'
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or included_from.startswith('mj')
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)
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def _make_anonymous_key(self, node: ClangJsonNode) -> str:
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loc = node['loc']
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if 'line' not in loc:
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# Clang elides 'line' when unchanged from the previous node. This only
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# occurs for system-header structs never referenced by MuJoCo types, so
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# the key merely needs to be unique.
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return f"offset{loc.get('offset')}:{loc.get('col')}"
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return f"{loc['line']}:{loc['col']}"
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def _traverse(node, visitor):
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visitor.visit(node)
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children = node.get('inner', [])
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for child in children:
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_traverse(child, visitor)
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def process(
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input_json: str,
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headers: list[str] | None = None,
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excluded: list[str] | None = None,
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) -> AstProcessor:
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"""Parses a Clang AST JSON file into individual AST types."""
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with open(input_json, 'r', encoding='utf-8') as f:
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root = json.load(f)
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raw_headers = {}
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for p in headers or []:
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with open(p, 'r') as f:
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raw_headers[os.path.basename(p)] = f.read()
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visitor = AstProcessor(raw_headers, excluded or [])
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_traverse(root, visitor)
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visitor.resolve()
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return visitor
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