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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_util_container_test.cc
+16 -21
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@@ -16,9 +16,9 @@
#include <array>
#include <cstddef>
#include <mujoco/mjdata.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
@@ -32,10 +32,9 @@ constexpr int GetExpectedStackUsageBytes() {
if constexpr (N <= 0) {
return prev_size;
} else {
constexpr auto RoundUpToAlignment =
[](int x, int alignment) {
return alignment * (x / alignment + ((x % alignment) ? 1 : 0));
};
constexpr auto RoundUpToAlignment = [](int x, int alignment) {
return alignment * (x / alignment + ((x % alignment) ? 1 : 0));
};
constexpr int size_with_arraylist = RoundUpToAlignment(
prev_size + sizeof(mjArrayList), alignof(mjArrayList));
constexpr int size_with_buffer = RoundUpToAlignment(
@@ -49,15 +48,15 @@ class TestMjArrayList : public MujocoTest {};
TEST_F(TestMjArrayList, TestMjArrayListSingleThreaded) {
std::array<char, 1024> error;
mjModel* m = LoadModelFromString("<mujoco/>", error.data(), error.size());
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
mjData* d = mj_makeData(m);
mj_markStack(d);
MjModelPtr m = LoadModelFromString("<mujoco/>", error.data(), error.size());
ASSERT_THAT(m.get(), NotNull()) << "Failed to load model: " << error.data();
MjDataPtr d = MakeData(m);
mj_markStack(d.get());
using DataType = int;
constexpr int kInitialCapacity = 10;
mjArrayList* array_list =
mju_arrayListCreate(d, sizeof(DataType), kInitialCapacity);
mju_arrayListCreate(d.get(), sizeof(DataType), kInitialCapacity);
constexpr int kNumElements = 35;
for (int i = 0; i < kNumElements; ++i) {
@@ -78,19 +77,17 @@ TEST_F(TestMjArrayList, TestMjArrayListSingleThreaded) {
EXPECT_EQ(mju_arrayListAt(array_list, kNumElements), nullptr);
EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr);
mj_freeStack(d);
mj_deleteData(d);
mj_deleteModel(m);
mj_freeStack(d.get());
}
TEST_F(TestMjArrayList, ZeroInitialCapacity) {
char error[1024];
mjModel* m = LoadModelFromString("<mujoco/>", error, sizeof(error));
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
mjData* d = mj_makeData(m);
mj_markStack(d);
MjModelPtr m = LoadModelFromString("<mujoco/>", error, sizeof(error));
ASSERT_THAT(m.get(), NotNull()) << "Failed to load model: " << error;
MjDataPtr d = MakeData(m);
mj_markStack(d.get());
mjArrayList* array_list =
mju_arrayListCreate(d, sizeof(double), /*initial_capacity=*/0);
mju_arrayListCreate(d.get(), sizeof(double), /*initial_capacity=*/0);
EXPECT_EQ(mju_arrayListSize(array_list), 0);
for (int i = 0; i < 35; ++i) {
@@ -104,9 +101,7 @@ TEST_F(TestMjArrayList, ZeroInitialCapacity) {
}
EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
mj_freeStack(d);
mj_deleteData(d);
mj_deleteModel(m);
mj_freeStack(d.get());
}
} // namespace