Function _emit_setto_call

Scripts/codegen/generate_ue_components.py:1940–2088

Generate the ``mjs_setToX(Element, ...)`` call inside CODEGEN_EXPORT from the function's signature in the mjspec snapshot. Replaces the hand- written multi-line C++ literals that used to live in ``codegen_rules.json``. Marshaling rules per function parameter ``p`` (``c_type``, ``array_d

(
    subtype_key: str,
    setto_rules: Dict[str, Any],
    rules: Dict[str, Any],
    mjspec: Dict[str, Any] | None,
    subtype_schema_attrs: List[str],
    base_schema_attrs: Sequence[str],
)

def _emit_setto_call(
    subtype_key: str,
    setto_rules: Dict[str, Any],
    rules: Dict[str, Any],
    mjspec: Dict[str, Any] | None,
    subtype_schema_attrs: List[str],
    base_schema_attrs: Sequence[str],
) -> str:
    """Generate the ``mjs_setToX(Element, ...)`` call inside CODEGEN_EXPORT
    from the function's signature in the mjspec snapshot. Replaces the hand-
    written multi-line C++ literals that used to live in ``codegen_rules.json``.

    Marshaling rules per function parameter ``p`` (``c_type``, ``array_dim``):
      - ``double`` scalar + UE ``float``  -> ``bOverride_p ? (double)p : <sentinel>``
      - ``double`` scalar + UE ``FVector`` + projection ``X``
                                          -> ``bOverride_p ? (double)p.X : <sentinel>``
      - ``double[N]`` array + UE ``TArray<float>``
                                          -> ``double pBuf[N] = { ... }; pass pBuf``
      - ``double[1]`` array + UE ``float`` (scalar-in-buffer)
                                          -> ``double pBuf[1] = { ... }; pass pBuf``
      - ``int`` scalar                    -> ``bOverride_p ? (int)p : <sentinel>``
      - Params NOT present in subtype/base schema -> force sentinel.

    Sentinels: defaults come from ``setto_param_defaults`` in the rules JSON,
    keyed by ``(function_name, param_name)``; otherwise ``-1.0`` for doubles,
    ``0`` for ints. The dcmotor pattern (``nullable_arrays``) emits
    ``bOverride_X ? Buf : nullptr`` and uses the ``FillDouble`` helper that
    lives file-local in ``MjDcMotorActuator.cpp``.
    """
    if setto_rules is None:
        return ""
    fn_name = setto_rules.get("call")
    if not fn_name:
        return ""
    if not mjspec or fn_name not in mjspec.get("setto_functions", {}):
        raise RuntimeError(
            f"mjs_setTo* function '{fn_name}' not found in the projected "
            f"mjspec. Rebuild the introspect snapshot via "
            f"`python Scripts/codegen/build_introspect_snapshot.py`."
        )
    sig = mjspec["setto_functions"][fn_name]
    if not sig["params"]:
        return (
            f"    {{\n"
            f"        const char* SetToErr = {fn_name}(Element);\n"
            f"        if (SetToErr && *SetToErr)\n"
            f"        {{\n"
            f"            UE_LOG(LogURLabBind, Warning, TEXT(\"{fn_name} on '%s': %s\"), "
            f"*GetName(), UTF8_TO_TCHAR(SetToErr));\n"
            f"        }}\n"
            f"    }}\n"
        )

    type_mappings: Dict[str, str] = rules.get("type_mappings", {})
    default_type: str = rules.get("default_type", "float")
    fn_defaults: Dict[str, str] = rules.get("setto_param_defaults", {}).get(fn_name, {})
    param_renames: Dict[str, str] = setto_rules.get("param_renames", {})
    projections: Dict[str, str] = setto_rules.get("projections", {})