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Refactor user codebase to use LoadResource helper method.

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* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).

PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
This commit is contained in:
Kyle Bayes
2023-04-25 07:23:53 -07:00
committed by Copybara-Service
parent c2115a1f51
commit 23961e24b7
10 changed files with 446 additions and 274 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.cc
+75 -84
View File
@@ -466,6 +466,25 @@ mjCBase::mjCBase() {
// load resource if found (fallback to OS filesystem)
mjResource* mjCBase::LoadResource(string filename, int provider) {
mjResource* r = nullptr;
const char* cname = filename.c_str();
// try reading from given provider
if ((r = mju_openResource(cname, provider)) == nullptr) {
if (!provider) {
throw mjCError(0, "file not found: '%s'", cname);
}
// if provider wasn't the OS filesystem try to fallback to OS filesystem
if ((r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "resource not found via provider or OS filesystem: '%s'", cname);
}
}
return r;
}
//------------------ class mjCBody implementation --------------------------------------------------
// constructor
@@ -1978,28 +1997,20 @@ mjCHField::~mjCHField() {
// load elevation data from custom format
void mjCHField::LoadCustom(string filename, int default_provider) {
void mjCHField::LoadCustom(mjResource* resource) {
// get file data in buffer
const void* buffer = 0;
mjResource* resource = nullptr;
if ((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// default to OS filesystem
if (!default_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open hfield file '%s'", filename.c_str());
}
}
int buffer_sz = mju_readResource(resource, &buffer);
// still not found
if (!buffer || buffer_sz < 1) {
throw mjCError(this, "could not read hfield file '%s'", filename.c_str());
if (buffer_sz < 1) {
throw mjCError(this, "could not read hfield file '%s'", resource->name);
} else if (!buffer_sz) {
throw mjCError(this, "empty hfield file '%s'", resource->name);
}
if (buffer_sz < 2*sizeof(int)) {
mju_closeResource(resource);
throw mjCError(this, "hfield missing header '%s'", filename.c_str());
throw mjCError(this, "hfield missing header '%s'", resource->name);
}
// read dimensions
@@ -2009,51 +2020,38 @@ void mjCHField::LoadCustom(string filename, int default_provider) {
// check dimensions
if (nrow<1 || ncol<1) {
mju_closeResource(resource);
throw mjCError(this, "non-positive hfield dimensions in file '%s'", filename.c_str());
throw mjCError(this, "non-positive hfield dimensions in file '%s'", resource->name);
}
// check buffer size
if (buffer_sz != nrow*ncol*sizeof(float)+8) {
mju_closeResource(resource);
throw mjCError(this, "unexpected file size in file '%s'", filename.c_str());
throw mjCError(this, "unexpected file size in file '%s'", resource->name);
}
// allocate
data = (float*) mju_malloc(nrow*ncol*sizeof(float));
if (!data) {
mju_closeResource(resource);
throw mjCError(this, "could not allocate buffers in hfield");
}
// copy data
memcpy(data, (void*)(pint+2), nrow*ncol*sizeof(float));
// close file
mju_closeResource(resource);
}
// load elevation data from PNG format
void mjCHField::LoadPNG(string filename, int default_provider) {
void mjCHField::LoadPNG(mjResource* resource) {
// determine data source
const void* inbuffer = 0;
mjResource* resource = nullptr;
if ((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// try reading from filesystem
if (!default_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open PNG file '%s' %d", filename.c_str(), default_provider);
}
}
int inbuffer_sz = mju_readResource(resource, &inbuffer);
// still not found
if (!inbuffer || inbuffer_sz < 1) {
mju_closeResource(resource);
throw mjCError(this, "could not read PNG file '%s'", filename.c_str());
if (inbuffer_sz < 1) {
throw mjCError(this, "could not read hfield PNG file '%s'", resource->name);
}
if (!inbuffer_sz) {
throw mjCError(this, "empty hfield PNG file '%s'", resource->name);
}
// load PNG from file or memory
@@ -2063,18 +2061,15 @@ void mjCHField::LoadPNG(string filename, int default_provider) {
// check
if (err) {
mju_closeResource(resource);
throw mjCError(this, "PNG load error '%s' in hfield id = %d", lodepng_error_text(err), id);
}
if (!w || !h) {
mju_closeResource(resource);
throw mjCError(this, "Zero dimension in PNG hfield '%s' (id = %d)", name.c_str(), id);
throw mjCError(this, "Zero dimension in PNG hfield '%s' (id = %d)", resource->name, id);
}
// allocate
data = (float*) mju_malloc(w*h*sizeof(float));
if (!data) {
mju_closeResource(resource);
throw mjCError(this, "could not allocate buffers in hfield");
}
@@ -2086,7 +2081,6 @@ void mjCHField::LoadPNG(string filename, int default_provider) {
data[c+(nrow-1-r)*ncol] = (float)image[c+r*ncol];
}
image.clear();
mju_closeResource(resource);
}
@@ -2114,13 +2108,21 @@ void mjCHField::Compile(int default_provider) {
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, default_provider);
// load depending on format
string ext = mjuu_getext(filename);
if (!strcasecmp(ext.c_str(), ".png")) {
LoadPNG(filename, default_provider);
} else {
LoadCustom(filename, default_provider);
try {
if (!strcasecmp(ext.c_str(), ".png")) {
LoadPNG(resource);
} else {
LoadCustom(resource);
}
mju_closeResource(resource);
} catch(mjCError err) {
mju_closeResource(resource);
throw err;
}
}
@@ -2431,30 +2433,22 @@ void mjCTexture::BuiltinCube(void) {
// load PNG file
void mjCTexture::LoadPNG(string filename, int default_provider,
void mjCTexture::LoadPNG(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
const void* inbuffer = 0;
mjResource* resource = nullptr;
if ((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// try reading from filesystem
if (!default_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open PNG file '%s' %d", filename.c_str(), default_provider);
}
}
int inbuffer_sz = mju_readResource(resource, &inbuffer);
// still not found
if (!inbuffer || inbuffer_sz < 1) {
mju_closeResource(resource);
throw mjCError(this, "could not read PNG file '%s'", filename.c_str());
if (inbuffer_sz < 1) {
throw mjCError(this, "could not read PNG texture file '%s'", resource->name);
} else if (!inbuffer_sz) {
throw mjCError(this, "PNG texture file '%s' is empty", resource->name);
}
// load PNG from file or memory
unsigned int err = lodepng::decode(image, w, h, (const unsigned char*) inbuffer, inbuffer_sz, LCT_RGB, 8);
mju_closeResource(resource);
// check
if (err) {
@@ -2462,34 +2456,27 @@ void mjCTexture::LoadPNG(string filename, int default_provider,
"PNG file load error '%s' in texture id = %d", lodepng_error_text(err), id);
}
if (w<1 || h<1) {
throw mjCError(this, "Empty PNG file in texture '%s' (id %d)", (const char*)file.c_str(), id);
throw mjCError(this, "Empty PNG file in texture '%s' (id %d)", resource->name, id);
}
}
// load custom file
void mjCTexture::LoadCustom(string filename, int default_provider,
void mjCTexture::LoadCustom(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
const void* buffer = 0;
mjResource* resource = nullptr;
if ((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// default to OS filesystem
if (!default_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open texture file '%s'", filename.c_str());
}
}
int buffer_sz = mju_readResource(resource, &buffer);
// still not found
if (!buffer || buffer_sz < 0) {
mju_closeResource(resource);
throw mjCError(this, "could not read texture file '%s'", filename.c_str());
if (buffer_sz < 0) {
throw mjCError(this, "could not read texture file '%s'", resource->name);
} else if (!buffer_sz) {
throw mjCError(this, "texture file is empty: '%s'", resource->name);
}
// read dimensions
int* pint = (int*)buffer;
w = pint[0];
@@ -2497,23 +2484,19 @@ void mjCTexture::LoadCustom(string filename, int default_provider,
// check dimensions
if (w<1 || h<1) {
mju_closeResource(resource);
throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
"non-positive texture dimensions in file '%s'", filename.c_str());
"non-positive texture dimensions in file '%s'", resource->name);
}
// check buffer size
if (buffer_sz != 2*sizeof(int) + w*h*3*sizeof(char)) {
mju_closeResource(resource);
throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
"unexpected file size in file '%s'", filename.c_str());
"unexpected file size in file '%s'", resource->name);
}
// allocate and copy
image.resize(w*h*3);
memcpy(image.data(), (void*)(pint+2), w*h*3*sizeof(char));
mju_closeResource(resource);
}
@@ -2524,10 +2507,18 @@ void mjCTexture::LoadFlip(string filename, int default_provider,
unsigned int& w, unsigned int& h) {
// dispatch to PNG or Custom loaded
string ext = mjuu_getext(filename);
if (!strcasecmp(ext.c_str(), ".png")) {
LoadPNG(filename, default_provider, image, w, h);
} else {
LoadCustom(filename, default_provider, image, w, h);
mjResource* resource = LoadResource(filename, default_provider);
try {
if (!strcasecmp(ext.c_str(), ".png")) {
LoadPNG(resource, image, w, h);
} else {
LoadCustom(resource, image, w, h);
}
mju_closeResource(resource);
} catch(mjCError err) {
mju_closeResource(resource);
throw err;
}
// horizontal flip