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Remove deprecated mju_{error,warning}_{i,s} functions.

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PiperOrigin-RevId: 925204136
Change-Id: Ia877d08a135092db8037d04e6a237e81325a1d7c
This commit is contained in:
Yuval Tassa
2026-06-02 01:58:19 -07:00
committed by Copybara-Service
parent ad23db5942
commit 062b0f1ea6
10 changed files with 3 additions and 241 deletions
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doc/APIreference/functions.rst
-36
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@@ -1980,24 +1980,6 @@ Error and memory
Main error function; does not return to caller.
.. _mju_error_i:
`mju_error_i <#mju_error_i>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_error_i
Deprecated: use mju_error.
.. _mju_error_s:
`mju_error_s <#mju_error_s>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_error_s
Deprecated: use mju_error.
.. _mju_warning:
`mju_warning <#mju_warning>`__
@@ -2007,24 +1989,6 @@ Deprecated: use mju_error.
Main warning function; returns to caller.
.. _mju_warning_i:
`mju_warning_i <#mju_warning_i>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_warning_i
Deprecated: use mju_warning.
.. _mju_warning_s:
`mju_warning_s <#mju_warning_s>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_warning_s
Deprecated: use mju_warning.
.. _mju_clearHandlers:
`mju_clearHandlers <#mju_clearHandlers>`__
doc/changelog.rst
+3 -5
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@@ -21,16 +21,14 @@ General
:class: attention
- The header file ``mjthread.h`` was removed along with the old engine threading API.
**Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
- Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
allocated on the stack.
- Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
the :math:`A` ("Delassus") matrix.
- The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
Bug fixes
^^^^^^^^^
@@ -2145,7 +2143,7 @@ General
<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model, which previously
required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
#. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
functions ``mju_error_i``, ``mju_error_s``, ``mju_warning_i``, and ``mju_warning_s`` are now deprecated.
#. Implemented a performant ``mju_sqrMatTDSparse`` function that doesn't require dense memory allocation.
#. Added ``mj_stackAllocInt`` to get correct size for allocating ints on mjData stack. Reducing stack memory usage
by 10% - 15%.
doc/includes/references.h
-4
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@@ -3457,11 +3457,7 @@ void mjui_update(int section, int item, const mjUI* ui,
mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_error_i(const char* msg, int i);
void mju_error_s(const char* msg, const char* text);
void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
void mju_warning_i(const char* msg, int i);
void mju_warning_s(const char* msg, const char* text);
void mju_clearHandlers(void);
void* mju_malloc(size_t size);
void mju_free(void* ptr);
include/mujoco/mujoco.h
-12
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@@ -972,21 +972,9 @@ MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
// Main error function; does not return to caller.
MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
// Deprecated: use mju_error.
MJAPI void mju_error_i(const char* msg, int i);
// Deprecated: use mju_error.
MJAPI void mju_error_s(const char* msg, const char* text);
// Main warning function; returns to caller.
MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
// Deprecated: use mju_warning.
MJAPI void mju_warning_i(const char* msg, int i);
// Deprecated: use mju_warning.
MJAPI void mju_warning_s(const char* msg, const char* text);
// Clear user error and memory handlers.
MJAPI void mju_clearHandlers(void);
python/mujoco/introspect/functions.py
-76
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@@ -6288,44 +6288,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Main error function; does not return to caller.',
)),
('mju_error_i',
FunctionDecl(
name='mju_error_i',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
),
doc='Deprecated: use mju_error.',
)),
('mju_error_s',
FunctionDecl(
name='mju_error_s',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='text',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Deprecated: use mju_error.',
)),
('mju_warning',
FunctionDecl(
name='mju_warning',
@@ -6340,44 +6302,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Main warning function; returns to caller.',
)),
('mju_warning_i',
FunctionDecl(
name='mju_warning_i',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
),
doc='Deprecated: use mju_warning.',
)),
('mju_warning_s',
FunctionDecl(
name='mju_warning_s',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='text',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Deprecated: use mju_warning.',
)),
('mju_clearHandlers',
FunctionDecl(
name='mju_clearHandlers',
src/engine/engine_util_errmem.c
-24
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@@ -169,30 +169,6 @@ void mju_warning(const char* msg, ...) {
}
// error with int argument
void mju_error_i(const char* msg, int i) {
mju_error(msg, i);
}
// warning with int argument
void mju_warning_i(const char* msg, int i) {
mju_warning(msg, i);
}
// error string argument
void mju_error_s(const char* msg, const char* text) {
mju_error(msg, text);
}
// warning string argument
void mju_warning_s(const char* msg, const char* text) {
mju_warning(msg, text);
}
//------------------------------ malloc and free ---------------------------------------------------
// allocate memory; byte-align on 64; pad size to multiple of 64
src/engine/engine_util_errmem.h
-4
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@@ -58,13 +58,9 @@ MJAPI void _mjPRIVATE__set_tls_warning_fn(void (*h)(const char*));
MJAPI void mju_error_raw(const char* msg);
MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
MJAPI void mju_error_v(const char* msg, va_list args);
MJAPI void mju_error_i(const char* msg, int i);
MJAPI void mju_error_s(const char* msg, const char* text);
// warnings
MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
MJAPI void mju_warning_i(const char* msg, int i);
MJAPI void mju_warning_s(const char* msg, const char* text);
// write [datetime, type: message] to MUJOCO_LOG.TXT
MJAPI void mju_writeLog(const char* type, const char* msg);
test/engine/engine_util_errmem_test.cc
-64
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@@ -68,70 +68,6 @@ class MujocoErrorAndWarningTest : public ::testing::Test {
}
};
TEST_F(MujocoErrorAndWarningTest, MjuErrorI) {
std::string format_string = "%010d";
while (format_string.length() < 2 * kBufferSize) {
format_string += 'x';
}
std::string expected_message = "0123456789";
while (expected_message.length() < kBufferSize - 1) {
expected_message += 'x';
}
ClearErrorMessage();
mju_error_i(format_string.c_str(), 123456789);
EXPECT_EQ(std::string(ErrorMessageBuffer()), expected_message);
}
TEST_F(MujocoErrorAndWarningTest, MjuWarningI) {
std::string format_string = "%010d";
while (format_string.length() < 2 * kBufferSize) {
format_string += 'x';
}
std::string expected_message = "0123456789";
while (expected_message.length() < kBufferSize - 1) {
expected_message += 'x';
}
ClearWarningMessage();
mju_warning_i(format_string.c_str(), 123456789);
EXPECT_EQ(std::string(WarningMessageBuffer()), expected_message);
}
TEST_F(MujocoErrorAndWarningTest, MjuErrorS) {
std::string format_string = "% 9s";
while (format_string.length() < 2 * kBufferSize) {
format_string += 'z';
}
std::string expected_message = " foobar";
while (expected_message.length() < kBufferSize - 1) {
expected_message += 'z';
}
ClearErrorMessage();
mju_error_s(format_string.c_str(), "foobar");
EXPECT_EQ(std::string(ErrorMessageBuffer()), expected_message);
}
TEST_F(MujocoErrorAndWarningTest, MjuWarningS) {
std::string format_string = "% 9s";
while (format_string.length() < 2 * kBufferSize) {
format_string += 'z';
}
std::string expected_message = " foobar";
while (expected_message.length() < kBufferSize - 1) {
expected_message += 'z';
}
ClearWarningMessage();
mju_warning_s(format_string.c_str(), "foobar");
EXPECT_EQ(std::string(WarningMessageBuffer()), expected_message);
}
TEST_F(MujocoErrorAndWarningTest, MjuErrorInternal) {
ClearErrorMessage();
mjERROR("foobar %d", 123);
unity/Runtime/Bindings/MjBindings.cs
-12
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@@ -7224,21 +7224,9 @@ public static unsafe extern void mjui_render(mjUI_* ui, mjuiState_* state, mjrCo
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_error([MarshalAs(UnmanagedType.LPStr)]string msg);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_error_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_error_s([MarshalAs(UnmanagedType.LPStr)]string msg, [MarshalAs(UnmanagedType.LPStr)]string text);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_warning([MarshalAs(UnmanagedType.LPStr)]string msg);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_warning_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_warning_s([MarshalAs(UnmanagedType.LPStr)]string msg, [MarshalAs(UnmanagedType.LPStr)]string text);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_clearHandlers();
wasm/codegen/generators/constants.py
-4
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@@ -147,14 +147,10 @@ _SKIPPED_MEMORY_FUNCTIONS: tuple[str, ...] = (
"mju_boxQPmalloc",
"mju_clearHandlers",
"mju_error",
"mju_error_i",
"mju_error_s",
"mju_free",
"mju_malloc",
"mju_strncpy",
"mju_warning",
"mju_warning_i",
"mju_warning_s",
# go/keep-sorted end
)