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Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

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PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
This commit is contained in:
Kyle Bayes
2026-06-22 04:18:29 -07:00
committed by Copybara-Service
parent 34d142ee50
commit 1490336955
39 changed files with 4616 additions and 5908 deletions
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test/engine/engine_plugin_test.cc
+55 -65
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@@ -68,13 +68,9 @@ class BaseTestPlugin {
advance_count = 0;
}
void Compute() {
compute_count += stride;
}
void Compute() { compute_count += stride; }
void Advance() {
advance_count += stride;
}
void Advance() { advance_count += stride; }
protected:
int stride;
@@ -458,11 +454,12 @@ TEST_F(MujocoTest, EmptyPluginDisallowed) {
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr(
"neither 'plugin' nor 'instance' is specified for body 'world'"));
mj_deleteModel(m);
MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m.get(), testing::IsNull()) << error.data();
EXPECT_THAT(
error.data(),
HasSubstr(
"neither 'plugin' nor 'instance' is specified for body 'world'"));
}
TEST_F(MujocoTest, FirstPartyPlugins) {
@@ -480,13 +477,13 @@ TEST_F(EnginePluginTest, NoAttributePlugin) {
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::NotNull()) << error.data();
mj_deleteModel(m);
MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m.get(), testing::NotNull()) << error.data();
}
TEST_F(EnginePluginTest, MultiplePluginTableBlocks) {
EXPECT_EQ(mjp_pluginCount(), kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
EXPECT_EQ(mjp_pluginCount(),
kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
const mjpPlugin* last_plugin = nullptr;
int table_count = 0;
@@ -494,7 +491,7 @@ TEST_F(EnginePluginTest, MultiplePluginTableBlocks) {
int slot;
std::string name = absl::StrFormat("mujoco.test.fake%u", i);
const mjpPlugin* plugin = mjp_getPlugin(name.c_str(), &slot);
EXPECT_EQ(slot, kNumTruePlugins+i);
EXPECT_EQ(slot, kNumTruePlugins + i);
EXPECT_THAT(plugin, NotNull());
if (plugin - last_plugin != 1) {
++table_count;
@@ -513,16 +510,17 @@ TEST_F(EnginePluginTest, RegisterIdenticalPlugin) {
EXPECT_EQ(RegisterSensorPlugin(), kNumTruePlugins);
EXPECT_EQ(RegisterActuatorPlugin(), kNumTruePlugins + kNumFakePlugins + 1);
EXPECT_EQ(RegisterPassivePlugin(), kNumTruePlugins + kNumFakePlugins + 2);
EXPECT_EQ(mjp_pluginCount(), kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
EXPECT_EQ(mjp_pluginCount(),
kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
}
TEST_F(EnginePluginTest, SaveXml) {
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::NotNull()) << error;
std::string saved_xml = SaveAndReadXml(m);
std::string saved_xml = SaveAndReadXml(m.get());
std::string_view expected_xml(xml);
const std::string extension_open = "<extension>";
@@ -561,12 +559,9 @@ TEST_F(EnginePluginTest, SaveXml) {
EXPECT_THAT(saved_xml, HasSubstr(expected_sensor_section));
EXPECT_THAT(saved_xml, HasSubstr(expected_actuator_section));
mj_deleteModel(m);
// make sure that the saved XML can still be compiled
mjModel* m2 = LoadModelFromString(saved_xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
mj_deleteModel(m2);
MjModelPtr m2 = LoadModelFromString(saved_xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::NotNull()) << error;
}
TEST_F(EnginePluginTest, SensorPlugin) {
@@ -575,8 +570,8 @@ TEST_F(EnginePluginTest, SensorPlugin) {
EXPECT_EQ(expected_init_count, expected_destroy_count);
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::NotNull()) << error;
// mj_makeModel calls mj_makeData and mj_deleteData internally
expected_init_count += 3;
@@ -585,10 +580,10 @@ TEST_F(EnginePluginTest, SensorPlugin) {
EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
EXPECT_EQ(m->nplugin, 7);
EXPECT_EQ(mj_name2id(m, mjOBJ_PLUGIN, "twosensors"), 0);
EXPECT_EQ(mj_name2id(m, mjOBJ_PLUGIN, "threesensors"), 1);
EXPECT_EQ(mj_name2id(m.get(), mjOBJ_PLUGIN, "twosensors"), 0);
EXPECT_EQ(mj_name2id(m.get(), mjOBJ_PLUGIN, "threesensors"), 1);
mjData* d = mj_makeData(m);
MjDataPtr d = MakeData(m);
expected_init_count += 3;
EXPECT_EQ(TestSensor::InitCount(), expected_init_count);
EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
@@ -597,32 +592,30 @@ TEST_F(EnginePluginTest, SensorPlugin) {
for (int j = 0; j < 10; ++j) {
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
m->plugin_stateadr[0]),
testing::ElementsAreArray<int>({i+1, 2*j, j}));
testing::ElementsAreArray<int>({i + 1, 2 * j, j}));
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
m->plugin_stateadr[1]),
testing::ElementsAreArray<int>({3*(i+1), 6*j, 3*j}));
testing::ElementsAreArray<int>({3 * (i + 1), 6 * j, 3 * j}));
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
m->plugin_stateadr[5]),
testing::ElementsAreArray<int>({5*(i+1), 10*j, 5*j}));
testing::ElementsAreArray<int>({5 * (i + 1), 10 * j, 5 * j}));
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[18]>(d->sensordata),
testing::ElementsAreArray<int>({ i+1, 2*j, j,
5*(i+1), 10*j, 5*j,
3*(i+1), 6*j, 3*j,
i+1, 2*j, j,
3*(i+1), 6*j, 3*j,
3*(i+1), 6*j, 3*j}));
mj_step(m, d);
mj_forward(m, d);
testing::ElementsAreArray<int>(
{i + 1, 2 * j, j, 5 * (i + 1), 10 * j, 5 * j, 3 * (i + 1),
6 * j, 3 * j, i + 1, 2 * j, j, 3 * (i + 1), 6 * j, 3 * j,
3 * (i + 1), 6 * j, 3 * j}));
mj_step(m.get(), d.get());
mj_forward(m.get(), d.get());
}
mj_resetData(m, d);
mj_resetData(m.get(), d.get());
}
mj_deleteData(d);
d.reset();
m.reset();
expected_destroy_count += 3;
EXPECT_EQ(TestSensor::InitCount(), expected_init_count);
EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
mj_deleteModel(m);
EXPECT_EQ(TestSensor::InitCount(), expected_init_count);
EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
}
@@ -633,8 +626,8 @@ TEST_F(EnginePluginTest, ActuatorPlugin) {
EXPECT_EQ(expected_init_count, expected_destroy_count);
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::NotNull()) << error;
// mj_makeModel calls mj_makeData and mj_deleteData internally
expected_init_count += 2;
@@ -643,9 +636,9 @@ TEST_F(EnginePluginTest, ActuatorPlugin) {
EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
EXPECT_EQ(m->nplugin, 7);
EXPECT_EQ(mj_name2id(m, mjOBJ_PLUGIN, "actuator2"), 2);
EXPECT_EQ(mj_name2id(m.get(), mjOBJ_PLUGIN, "actuator2"), 2);
mjData* d = mj_makeData(m);
MjDataPtr d = MakeData(m);
expected_init_count += 2;
EXPECT_EQ(TestActuator::InitCount(), expected_init_count);
EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
@@ -654,33 +647,33 @@ TEST_F(EnginePluginTest, ActuatorPlugin) {
for (int j = 0; j < 10; ++j) {
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
m->plugin_stateadr[2]),
testing::ElementsAreArray<int>({2*(i+1), 4*j, 2*j}));
testing::ElementsAreArray<int>({2 * (i + 1), 4 * j, 2 * j}));
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
m->plugin_stateadr[3]),
testing::ElementsAreArray<int>({4*(i+1), 8*j, 4*j}));
testing::ElementsAreArray<int>({4 * (i + 1), 8 * j, 4 * j}));
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[2]>(d->actuator_force),
testing::ElementsAreArray<mjtNum>(
{(mjtNum)0.125*j, (mjtNum)0.25*j}));
mj_step(m, d);
mj_forward(m, d);
{(mjtNum)0.125 * j, (mjtNum)0.25 * j}));
mj_step(m.get(), d.get());
mj_forward(m.get(), d.get());
}
mj_resetData(m, d);
mj_resetData(m.get(), d.get());
}
mj_deleteData(d);
d.reset();
m.reset();
expected_destroy_count += 2;
EXPECT_EQ(TestActuator::InitCount(), expected_init_count);
EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
mj_deleteModel(m);
EXPECT_EQ(TestActuator::InitCount(), expected_init_count);
EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
}
TEST_F(EnginePluginTest, FilteredActuatorPlugin) {
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m.get(), testing::NotNull()) << error;
// Expecting 7 actuator state variables: 3x2 from actuator2 instances, and 1
// from setting dyntype="filter" on one of the plugin actuators
@@ -692,12 +685,12 @@ TEST_F(EnginePluginTest, FilteredActuatorPlugin) {
EXPECT_EQ(m->actuator_actadr[1], 0);
EXPECT_EQ(m->actuator_actadr[2], 3);
mjData* d = mj_makeData(m);
MjDataPtr d = MakeData(m);
EXPECT_EQ(d->act[0], 0.0);
mju_fill(d->ctrl, 1, m->nu);
// start with nonzero act for the filter
d->act[6] = 0.5;
mj_step(m, d);
mj_step(m.get(), d.get());
for (int i = 0; i < 6; ++i) {
// act_dot should be computed by the plugin
@@ -715,9 +708,6 @@ TEST_F(EnginePluginTest, FilteredActuatorPlugin) {
EXPECT_THAT(d->act_dot[6], MjNear(expected_act_dot, 1e-6, 1e-4));
EXPECT_THAT(d->act[6],
MjNear(0.5 + expected_act_dot * m->opt.timestep, 1e-6, 1e-4));
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace