mujoco

# Copyright 2026 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
#
#     https://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.
"""Endpoints route messages to the right channel."""

from mujoco.experimental.studio import messages as vp


class ViewerEndpoint:
  """Viewer endpoint to route Messages to the Sim using the right Channel.

  The viewer has an outgoing EventChannel but no outgoing SnapshotChannel.
  The viewer has an incoming EventChannel and SnapshotChannel.
  """

  def __init__(
      self,
      *,
      s2v_snapshot: vp.SnapshotChannel,
      s2v_events: vp.EventChannel,
      v2s_events: vp.EventChannel,
      v2s_snapshot: vp.SnapshotChannel,
  ):
    self._s2v_snapshot = s2v_snapshot
    self._s2v_events = s2v_events
    self._v2s_events = v2s_events
    self._v2s_snapshot = v2s_snapshot
    self._is_closed = False

  def send_to_sim(self, message: vp.Message) -> None:
    if self._is_closed:
      raise RuntimeError('ViewerEndpoint is closed')
    if isinstance(message, vp.Event):
      self._v2s_events.put(message)
    elif isinstance(message, vp.Snapshot):
      self._v2s_snapshot.put(message)
    else:
      name = type(message).__name__
      raise TypeError(f'expected Event or Snapshot, got {name}')

  def get_sim_events(self) -> list[vp.Event]:
    """Returns all pending events from the simulation."""
    if self._is_closed:
      raise RuntimeError('ViewerEndpoint is closed')
    return self._s2v_events.get()

  def get_sim_snapshots(self) -> list[vp.Snapshot]:
    """Returns all pending latest snapshots from the simulation, one per type."""
    if self._is_closed:
      raise RuntimeError('ViewerEndpoint is closed')
    return self._s2v_snapshot.get()

  def close(self) -> None:
    """Close all channels owned by this endpoint (idempotent)."""
    if not self._is_closed:
      self._is_closed = True
      self._v2s_events.close()
      self._v2s_snapshot.close()
      self._s2v_events.close()
      self._s2v_snapshot.close()


class SimEndpoint:
  """Sim endpoint to route Messages to the Viewer using the right Channel.

  The simulation has an outgoing SnapshotChannel and EventChannel.
  The simulation has an incoming EventChannel but no incoming SnapshotChannel.
  """

  def __init__(
      self,
      *,
      s2v_snapshot: vp.SnapshotChannel,
      s2v_events: vp.EventChannel,
      v2s_events: vp.EventChannel,
      v2s_snapshot: vp.SnapshotChannel,
  ):
    self._s2v_snapshot = s2v_snapshot
    self._s2v_events = s2v_events
    self._v2s_events = v2s_events
    self._v2s_snapshot = v2s_snapshot
    self._is_closed = False

  def send_to_viewer(self, message: vp.Message) -> None:
    if self._is_closed:
      raise RuntimeError('SimEndpoint is closed')
    if isinstance(message, vp.Event):
      self._s2v_events.put(message)
    elif isinstance(message, vp.Snapshot):
      self._s2v_snapshot.put(message)
    else:
      raise TypeError(
          f'expected Snapshot or Event, got {type(message).__name__}'
      )

  def get_viewer_events(self) -> list[vp.Event]:
    """Returns all pending events from the viewer."""
    if self._is_closed:
      raise RuntimeError('SimEndpoint is closed')
    return self._v2s_events.get()

  def get_viewer_snapshots(self) -> list[vp.Snapshot]:
    """Returns all pending latest snapshots from the viewer, one per type."""
    if self._is_closed:
      raise RuntimeError('SimEndpoint is closed')
    return self._v2s_snapshot.get()

  def close(self) -> None:
    """Close all channels owned by this endpoint."""
    if not self._is_closed:
      self._is_closed = True
      self._s2v_snapshot.close()
      self._s2v_events.close()
      self._v2s_events.close()
      self._v2s_snapshot.close()


def make_endpoints(
    *,
    s2v_snapshot: vp.SnapshotChannel,
    s2v_events: vp.EventChannel,
    v2s_events: vp.EventChannel,
    v2s_snapshot: vp.SnapshotChannel,
) -> tuple[ViewerEndpoint, SimEndpoint]:
  """Returns viewer and simulation endpoints."""
  viewer_endpoint = ViewerEndpoint(
      s2v_snapshot=s2v_snapshot,
      s2v_events=s2v_events,
      v2s_events=v2s_events,
      v2s_snapshot=v2s_snapshot,
  )
  sim_endpoint = SimEndpoint(
      s2v_snapshot=s2v_snapshot,
      s2v_events=s2v_events,
      v2s_events=v2s_events,
      v2s_snapshot=v2s_snapshot,
  )
  return viewer_endpoint, sim_endpoint