def write_types(self, fname):
imports = [
"import ctypes",
]
with open(fname, "w") as f:
f.write(self.make_header(imports))
f.write(codegen_util.comment_line("ctypes struct declarations"))
for struct in six.itervalues(self.structs_dict):
f.write("\n" + struct.ctypes_struct_decl)
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_consts(self, fname):
imports = [
"# pylint: disable=invalid-name",
]
with open(fname, "w") as f:
f.write(self.make_header(imports))
f.write(codegen_util.comment_line("Constants") + "\n")
for name, value in six.iteritems(self.consts_dict):
f.write("{0} = {1}\n".format(name, value))
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_types(self, fname):
"""Write ctypes struct and function type declarations."""
imports = [
"import ctypes",
]
with open(fname, "w") as f:
f.write(self.make_header(imports))
f.write(
codegen_util.comment_line(
"ctypes struct, union, and function type declarations"))
for type_decl in self.types_dict.values():
f.write("\n" + type_decl.ctypes_decl)
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_wrappers(self, fname):
with open(fname, "w") as f:
imports = [
"import ctypes",
"# Internal dependencies.",
"# pylint: disable=undefined-variable",
"# pylint: disable=wildcard-import",
"from {} import util".format(_MODULE),
"from {}.mjbindings.types import *".format(_MODULE),
]
f.write(self.make_header(imports))
f.write(codegen_util.comment_line("Low-level wrapper classes"))
for struct in six.itervalues(self.structs_dict):
f.write("\n" + struct.wrapper_class)
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_wrappers(self, fname):
"""Write wrapper classes for ctypes structs."""
with open(fname, "w") as f:
imports = [
"import ctypes",
"# pylint: disable=undefined-variable",
"# pylint: disable=wildcard-import",
"from {} import util".format(_MODULE),
"from {}.mjbindings.types import *".format(_MODULE),
]
f.write(self.make_header(imports))
f.write(codegen_util.comment_line("Low-level wrapper classes"))
for type_decl in self.types_dict.values():
if isinstance(type_decl, c_declarations.Struct):
f.write("\n" + type_decl.wrapper_class)
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_funcs_and_globals(self, fname):
"""Write ctypes declarations for functions and global data."""
imports = [
"import collections",
"import ctypes",
"# Internal dependencies.",
"# pylint: disable=undefined-variable",
"# pylint: disable=wildcard-import",
"from {} import util".format(_MODULE),
"from {}.mjbindings.types import *".format(_MODULE),
"import numpy as np",
"# pylint: disable=line-too-long",
"# pylint: disable=invalid-name",
"# common_typos_disable",
]
with open(fname, "w") as f:
f.write(self.make_header(imports))
f.write("mjlib = util.get_mjlib()\n")
f.write("\n" +
codegen_util.comment_line("ctypes function declarations"))
for function in six.itervalues(self.funcs_dict):
f.write("\n" + function.ctypes_func_decl(cdll_name="mjlib"))
# Only require strings for UI purposes.
f.write("\n" + codegen_util.comment_line("String arrays") + "\n")
for string_arr in six.itervalues(self.strings_dict):
f.write(string_arr.ctypes_var_decl(cdll_name="mjlib"))
f.write("\n" + codegen_util.comment_line("Function pointers"))
fields = [repr(name) for name in self.func_ptrs_dict.keys()]
values = [
func_ptr.ctypes_var_decl(cdll_name="mjlib")
for func_ptr in self.func_ptrs_dict.values()
]
f.write(
textwrap.dedent("""
function_pointers = collections.namedtuple(
'FunctionPointers',
[{0}]
)({1})
""").format(",\n ".join(fields), ",\n ".join(values)))
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_enums(self, fname):
"""Write enum definitions."""
with open(fname, "w") as f:
imports = [
"import collections",
"# pylint: disable=invalid-name",
"# pylint: disable=line-too-long",
]
f.write(self.make_header(imports))
f.write(codegen_util.comment_line("Enums"))
for enum_name, members in self.enums_dict.items():
fields = ["\"{}\"".format(name) for name in members.keys()]
values = [str(value) for value in members.values()]
s = textwrap.dedent("""
{0} = collections.namedtuple(
"{0}",
[{1}]
)({2})
""").format(enum_name, ",\n ".join(fields), ", ".join(values))
f.write(s)
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_index_dict(self, fname):
pp = pprint.PrettyPrinter()
output_string = pp.pformat(dict(self.index_dict))
indent = codegen_util.Indenter()
imports = [
"# pylint: disable=bad-continuation",
"# pylint: disable=line-too-long",
]
with open(fname, "w") as f:
f.write(self.make_header(imports))
f.write("array_sizes = (\n")
with indent:
f.write(output_string)
f.write("\n)")
f.write("\n" + codegen_util.comment_line("End of generated code"))
def write_funcs_and_globals(self, fname):
"""Write ctypes declarations for functions and global data."""
imports = [
"import collections",
"import ctypes",
"# pylint: disable=undefined-variable",
"# pylint: disable=wildcard-import",
"from {} import util".format(_MODULE),
"from {}.mjbindings.types import *".format(_MODULE),
"import numpy as np",
"# pylint: disable=line-too-long",
"# pylint: disable=invalid-name",
"# common_typos_disable",
]
with open(fname, "w") as f:
f.write(self.make_header(imports))
f.write("mjlib = util.get_mjlib()\n")
f.write("\n" +
codegen_util.comment_line("ctypes function declarations"))
for function in self.funcs_dict.values():
f.write("\n" + function.ctypes_func_decl(cdll_name="mjlib"))
# Only require strings for UI purposes.
f.write("\n" + codegen_util.comment_line("String arrays") + "\n")
for string_arr in self.strings_dict.values():
f.write(string_arr.ctypes_var_decl(cdll_name="mjlib"))
f.write("\n" +
codegen_util.comment_line("Callback function pointers"))
fields = [
"'_{0}'".format(func_ptr.name)
for func_ptr in self.func_ptrs_dict.values()
]
values = [
func_ptr.ctypes_var_decl(cdll_name="mjlib")
for func_ptr in self.func_ptrs_dict.values()
]
f.write(
textwrap.dedent("""
class _Callbacks:
__slots__ = [
{0}
]
def __init__(self):
{1}
""").format(",\n ".join(fields), "\n ".join(values)))
indent = codegen_util.Indenter()
with indent:
for func_ptr in self.func_ptrs_dict.values():
f.write(
indent(
func_ptr.getters_setters_with_custom_prefix(
"self._")))
f.write(
"\n\ncallbacks = _Callbacks() # pylint: disable=invalid-name")
f.write("\ndel _Callbacks\n")
f.write("\n" + codegen_util.comment_line("End of generated code"))
