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Reinstate max_align_t alignment in mj_stackAllocByte.

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PiperOrigin-RevId: 559433104
Change-Id: I891a6a0562cab1c3af0e3dc395304207ca3a3190
This commit is contained in:
Saran Tunyasuvunakool
2023-08-23 08:21:34 -07:00
committed by Copybara-Service
parent b7cf479abe
commit 1f5a9e8c70
3 changed files with 48 additions and 15 deletions
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test/engine/engine_util_container_test.cc
+32 -10
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@@ -14,6 +14,7 @@
#include "src/engine/engine_util_container.h"
#include <array>
#include <cstddef>
#include <mujoco/mjdata.h>
#include <gmock/gmock.h>
@@ -26,28 +27,49 @@ namespace {
using testing::NotNull;
template <typename T, int N, int Capacity>
constexpr int GetExpectedStackUsageBytes() {
if constexpr (N <= 0) {
return 0;
} else {
constexpr auto RoundUpToAlignment =
[](int x) {
constexpr auto kAlignment = alignof(std::max_align_t);
return kAlignment * (x / kAlignment + ((x % kAlignment) ? 1 : 0));
};
return RoundUpToAlignment(sizeof(mjArrayList)) +
RoundUpToAlignment(Capacity * sizeof(T)) +
GetExpectedStackUsageBytes<T, N - Capacity, 2 * Capacity>();
}
}
TEST(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);
mjMARKSTACK;
mjArrayList* array_list = mju_arrayListCreate(d, sizeof(int), 10);
using DataType = int;
constexpr int kInitialCapacity = 10;
mjArrayList* array_list =
mju_arrayListCreate(d, sizeof(DataType), kInitialCapacity);
for (int i = 0; i < 35; ++i) {
constexpr int kNumElements = 35;
for (int i = 0; i < kNumElements; ++i) {
mju_arrayListAdd(array_list, &i);
}
EXPECT_EQ(mju_arrayListSize(array_list), 35);
EXPECT_EQ(mju_arrayListSize(array_list), kNumElements);
// Approximately (3 * sizeof(int) + 3 * sizeof(mjArrayList)) / sizeof(mjtNum)
// However there is padding for alignment/etc.
EXPECT_EQ(d->maxuse_stack, 53);
constexpr int kExpectedMaxUseStack =
GetExpectedStackUsageBytes<DataType, kNumElements, kInitialCapacity>() /
sizeof(mjtNum);
EXPECT_EQ(d->maxuse_stack, kExpectedMaxUseStack);
for (int i = 0; i < 35; ++i) {
EXPECT_EQ(*(int*)mju_arrayListAt(array_list, i), i);
for (int i = 0; i < kNumElements; ++i) {
EXPECT_EQ(*static_cast<int*>(mju_arrayListAt(array_list, i)), i);
}
EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
EXPECT_EQ(mju_arrayListAt(array_list, kNumElements), nullptr);
EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr);
mjFREESTACK;
@@ -71,7 +93,7 @@ TEST(TestMjArrayList, ZeroInitialCapacity) {
EXPECT_EQ(mju_arrayListSize(array_list), 35);
for (int i = 0; i < 35; ++i) {
EXPECT_EQ(*(double*)mju_arrayListAt(array_list, i), i);
EXPECT_EQ(*static_cast<double*>(mju_arrayListAt(array_list, i)), i);
}
EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);