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
#
#     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 API for APIReference.rst."""

import os
import sys
from typing import Dict

sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
try:
  import resource_loader  # pyrefly: ignore[missing-import]
  import header_reader  # pyrefly: ignore[missing-import]
except ImportError:
  raise

_HEADER_FILES = [
    'include/mujoco/mjassert.h',
    'include/mujoco/mjdata.h',
    'include/mujoco/mjexport.h',
    'include/mujoco/mjmacro.h',
    'include/mujoco/mjmodel.h',
    'include/mujoco/mjplugin.h',
    'include/mujoco/mjrender.h',
    'include/mujoco/mjrfilament.h',
    'include/mujoco/mjspec.h',
    'include/mujoco/mjspecmacro.h',
    'include/mujoco/mjtype.h',
    'include/mujoco/mjui.h',
    'include/mujoco/mjvisualize.h',
    'include/mujoco/mjxmacro.h',
    'include/mujoco/mujoco.h',
]
_SOURCE_FILES = [
    'src/engine/engine_support.c',
    'src/engine/engine_vis_init.c',
]


def generate_reference_header(
    api: Dict[str, header_reader.ApiDefinition]) -> str:
  """Generates the reference header file used by APIRererence.rst."""

  source = """
  // 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.

// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
// Error: C reference not found
// NOLINTBEGIN\n\n""".lstrip()

  for value in api.values():
    if value.c_type not in ('FUNCTION', 'ARRAY'):
      source = f'{source}{value.code}'

  source = f"""{source}
//----------------------------- STRING CONSTANTS -------------------------------
"""

  for value in api.values():
    if value.c_type == 'ARRAY':
      source = f'{source}{value.code}'

  source = f"""{source}
//----------------------------- MJAPI FUNCTIONS --------------------------------
"""

  for value in api.values():
    if value.c_type == 'FUNCTION':
      source = f'{source}{value.code}'
  source = f'{source}// NOLINTEND\n'
  return source


def read_headers() -> Dict[str, header_reader.ApiDefinition]:
  """Reads API header and source files and generates a mapping between C tokens and C definitions."""
  api = {}
  for header in _HEADER_FILES:
    lines = resource_loader.read_text(header).splitlines(keepends=True)
    api.update(header_reader.read(lines))

  for source in _SOURCE_FILES:
    lines = resource_loader.read_text(source).splitlines(keepends=True)
    api.update(header_reader.read(lines, parse_functions=False))

  return api


def main() -> None:
  if len(sys.argv) > 1:
    sys.exit('Too many command-line arguments.')

  sys.stdout.buffer.write(
      generate_reference_header(read_headers()).encode('utf-8')
  )


if __name__ == '__main__':
  main()