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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 functions.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 import type_parsing
from google3.third_party.mujoco.introspect.codegen import formatter
FLAGS = flags.FLAGS
flags.DEFINE_string('header_path', None, 'Path to the original mujoco.h')
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 MjFunctionVisitor:
"""A Clang AST JSON node visitor for MuJoCo API function declarations."""
def __init__(self, raw_header):
self._raw_header = raw_header
self._functions = {}
def _make_function(self, node: ClangJsonNode) -> ast_nodes.FunctionDecl:
"""Makes a FunctionDecl from a Clang AST FunctionDecl node."""
name = node['name']
return_type = type_parsing.parse_function_return_type(
node['type']['qualType'])
parameters = []
comments = []
for child in node['inner']:
child_kind = child.get('kind')
if child_kind == 'ParmVarDecl':
parameters.append(self._make_parameter(child))
if child_kind == 'FullComment':
comments.append(self._make_comment(child))
comment = ' '.join(comments).strip()
return ast_nodes.FunctionDecl(
name=name, return_type=return_type, parameters=parameters, doc=comment)
def _make_parameter(
self, node: ClangJsonNode) -> ast_nodes.FunctionParameterDecl:
"""Makes a ParameterDecl from a Clang AST ParmVarDecl node."""
name = node['name']
type_name = node['type']['qualType']
# For a pointer parameters, look up in the original header to see if
# n array extent was declared there.
if type_name.endswith('*'):
decl_begin = node['range']['begin']['offset']
decl_end = node['range']['end']['offset'] + node['range']['end']['tokLen']
decl = self._raw_header[decl_begin:decl_end]
name_begin = node['loc']['offset'] - decl_begin
name_end = name_begin + node['loc']['tokLen']
type_name = decl[:name_begin] + decl[name_end:]
return ast_nodes.FunctionParameterDecl(
name=name, type=type_parsing.parse_type(type_name))
def _make_comment(self, node: ClangJsonNode) -> str:
"""Makes a comment string from a Clang AST FullComment node."""
kind = node.get('kind')
if kind == 'TextComment':
return node['text'].replace('\N{NO-BREAK SPACE}', ' ')
else:
strings = []
for child in node['inner']:
strings.append(self._make_comment(child))
return ''.join(strings)
def visit(self, node: ClangJsonNode) -> None:
if (node.get('kind') == 'FunctionDecl' and
node.get('name', '').startswith('mj')):
func_decl = self._make_function(node)
self._functions[func_decl.name] = func_decl
@property
def functions(self) -> Mapping[str, ast_nodes.FunctionDecl]:
return self._functions
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)
with open(FLAGS.header_path, 'r') as f:
visitor = MjFunctionVisitor(f.read())
traverse(root, visitor)
functions_str = formatter.format_as_python_code(visitor.functions)
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 functions.
DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
"""
from typing import Mapping
from google3.third_party.mujoco.introspect.ast_nodes import ArrayType
from google3.third_party.mujoco.introspect.ast_nodes import FunctionDecl
from google3.third_party.mujoco.introspect.ast_nodes import FunctionParameterDecl
from google3.third_party.mujoco.introspect.ast_nodes import PointerType
from google3.third_party.mujoco.introspect.ast_nodes import ValueType
FUNCTIONS: Mapping[str, FunctionDecl] = {functions_str}
'''.strip()) # `print` adds a trailing newline
if __name__ == '__main__':
app.run(main)
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