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# Copyright 2022 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Generates enums.py.
The JSON input can be generated via:
clang -Xclang -ast-dump=json -fsyntax-only -fparse-all-comments mujoco.h
"""
import json
from typing import Any, Mapping, Sequence
from absl import app
from absl import flags
from google3.third_party.mujoco.introspect import ast_nodes
from google3.third_party.mujoco.introspect.codegen import formatter
FLAGS = flags.FLAGS
flags.DEFINE_string(
'json_path', None,
'Path to the JSON file representing the Clang AST for mujoco.h')
ClangJsonNode = Mapping[str, Any]
def traverse(node, visitor):
visitor.visit(node)
children = node.get('inner', [])
for child in children:
traverse(child, visitor)
class MjEnumVisitor:
"""A Clang AST JSON node visitor for MuJoCo API enum declarations."""
def __init__(self):
self._enums = {}
self._typedefs = {}
def _make_enum(self, node: ClangJsonNode) -> ast_nodes.EnumDecl:
"""Makes a EnumDecl from a Clang AST EnumDecl node."""
name = f"enum {node['name']}"
values = []
for child in node['inner']:
child_kind = child.get('kind')
if child_kind == 'EnumConstantDecl':
next_idx = values[-1][1] + 1 if values else 0
value = int(child['inner'][0].get('value', next_idx))
values.append((child['name'], value))
return ast_nodes.EnumDecl(name=name, declname=name, values=dict(values))
def visit(self, node: ClangJsonNode) -> None:
if (node.get('kind') == 'EnumDecl' and
node.get('name', '').startswith('mj')):
enum_decl = self._make_enum(node)
self._enums[enum_decl.name] = enum_decl
elif (node.get('kind') == 'TypedefDecl' and
node['type']['qualType'].startswith('enum mj')):
enum = self._enums[node['type']['qualType']]
self._typedefs[node['name']] = ast_nodes.EnumDecl(
name=node['name'], declname=enum.declname, values=dict(enum.values))
@property
def enums(self) -> Mapping[str, ast_nodes.EnumDecl]:
return self._enums
@property
def typedefs(self) -> Mapping[str, ast_nodes.EnumDecl]:
return self._typedefs
def main(argv: Sequence[str]) -> None:
if len(argv) > 1:
raise app.UsageError('Too many command-line arguments.')
with open(FLAGS.json_path, 'r', encoding='utf-8') as f:
root = json.load(f)
visitor = MjEnumVisitor()
traverse(root, visitor)
enums_str = formatter.format_as_python_code(visitor.typedefs)
print(f'''
# Copyright 2022 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Provides information about MuJoCo API enums.
DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
"""
from typing import Mapping
from google3.third_party.mujoco.introspect.ast_nodes import EnumDecl
ENUMS: Mapping[str, EnumDecl] = {enums_str}
'''.strip()) # `print` adds a trailing newline
if __name__ == '__main__':
app.run(main)
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