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Do not expose plugin_slot.

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PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
This commit is contained in:
Alessio Quaglino
2024-10-07 09:36:36 -07:00
committed by Copybara-Service
parent 66faba9aa5
commit 1f9dca8bc4
17 changed files with 50 additions and 49 deletions
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src/user/user_model.cc
+23 -8
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@@ -315,6 +315,7 @@ void mjCModel::CopyPlugin(std::vector<mjCPlugin*>& dest,
continue;
}
mjCPlugin* candidate = new mjCPlugin(*plugin);
candidate->model = this;
candidate->NameSpace(plugin->model);
bool referenced = instances.find(candidate->name) != instances.end();
auto same_name = [candidate](const mjCPlugin* dest) { return dest->name == candidate->name; };
@@ -3973,7 +3974,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
{
int adr = 0;
for (int i = 0; i < nplugin; ++i) {
m->plugin[i] = plugins_[i]->spec.plugin_slot;
m->plugin[i] = plugins_[i]->plugin_slot;
const int size = plugins_[i]->flattened_attributes.size();
std::memcpy(m->plugin_attr + adr,
plugins_[i]->flattened_attributes.data(), size);
@@ -4499,24 +4500,37 @@ void mjCModel::ActivatePlugin(const mjpPlugin* plugin, int slot) {
void mjCModel::ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
const std::string& plugin_instance_name, mjCPlugin** plugin_instance) {
std::string pname = plugin_name;
// if the plugin name is not specified by the user, infer it from the plugin instance
if (plugin_name.empty() && !plugin_instance_name.empty()) {
mjCBase* plugin_obj = FindObject(mjOBJ_PLUGIN, plugin_instance_name);
if (plugin_obj) {
pname = static_cast<mjCPlugin*>(plugin_obj)->plugin_name;
} else {
throw mjCError(obj, "unrecognized name '%s' for plugin instance",
plugin_instance_name.c_str());
}
}
// if plugin_name is specified, check if it is in the list of active plugins
// (in XML, active plugins are those declared as <required>)
int plugin_slot = -1;
if (!plugin_name.empty()) {
if (!pname.empty()) {
for (int i = 0; i < active_plugins_.size(); ++i) {
if (active_plugins_[i].first->name == plugin_name) {
if (active_plugins_[i].first->name == pname) {
plugin_slot = active_plugins_[i].second;
break;
}
}
if (plugin_slot == -1) {
throw mjCError(obj, "unrecognized plugin '%s'", plugin_name.c_str());
throw mjCError(obj, "unrecognized plugin '%s'", pname.c_str());
}
}
// implicit plugin instance
if (*plugin_instance && (*plugin_instance)->spec.plugin_slot == -1) {
(*plugin_instance)->spec.plugin_slot = plugin_slot;
if (*plugin_instance && (*plugin_instance)->plugin_slot == -1) {
(*plugin_instance)->plugin_slot = plugin_slot;
(*plugin_instance)->parent = obj;
}
@@ -4524,14 +4538,15 @@ void mjCModel::ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
else if (!*plugin_instance) {
*plugin_instance =
static_cast<mjCPlugin*>(FindObject(mjOBJ_PLUGIN, plugin_instance_name));
(*plugin_instance)->plugin_slot = plugin_slot;
if (!*plugin_instance) {
throw mjCError(
obj, "unrecognized name '%s' for plugin instance", plugin_instance_name.c_str());
}
if (plugin_slot != -1 && plugin_slot != (*plugin_instance)->spec.plugin_slot) {
if (plugin_slot != -1 && plugin_slot != (*plugin_instance)->plugin_slot) {
throw mjCError(
obj, "'plugin' attribute does not match that of the instance");
}
plugin_slot = (*plugin_instance)->spec.plugin_slot;
plugin_slot = (*plugin_instance)->plugin_slot;
}
}