Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
@@ -0,0 +1,137 @@
+// Copyright 2021 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.
+
+// Tests for engine/engine_util_errmem.c.
+
+#include <cstring>
+#include <string>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include "src/engine/engine_util_errmem.h"
+
+namespace mujoco {
+namespace {
+
+constexpr int kBufferSize = 1000;
+
+char* ErrorMessageBuffer() {
+  static char error_message[kBufferSize] = "";
+  return error_message;
+}
+
+char* WarningMessageBuffer() {
+  static char warning_message[kBufferSize] = "";
+  return warning_message;
+}
+
+void MjErrorHandler(const char* msg) {
+  if (strnlen(msg, kBufferSize) == kBufferSize) {
+    FAIL() << "mju_user_error message exceeds maximum length of "
+           << kBufferSize;
+  }
+  strncpy(ErrorMessageBuffer(), msg, kBufferSize);
+}
+
+void MjWarningHandler(const char* msg) {
+  if (strnlen(msg, kBufferSize) == kBufferSize) {
+    FAIL() << "mju_user_warning message exceeds maximum length of "
+           << kBufferSize;
+  }
+  strncpy(WarningMessageBuffer(), msg, kBufferSize);
+}
+
+void ClearErrorMessage() { ErrorMessageBuffer()[0] = '\0'; }
+
+void ClearWarningMessage() { WarningMessageBuffer()[0] = '\0'; }
+
+class MujocoErrorAndWarningTest : public ::testing::Test {
+ public:
+  MujocoErrorAndWarningTest() {
+    mju_user_error = MjErrorHandler;
+    mju_user_warning = MjWarningHandler;
+  }
+
+  ~MujocoErrorAndWarningTest() {
+    mju_user_error = nullptr;
+    mju_user_warning = nullptr;
+  }
+};
+
+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);
+}
+
+}  // namespace
+}  // namespace mujoco