Add support for printing to stdout in mj_saveLastXML.

PiperOrigin-RevId: 546849864
Change-Id: I799ea3fcd723cf036f82ef5c1ef8152c314072dc

src/xml/xml.cc

@@ -92,37 +92,18 @@ class LocaleOverride {
 }  // namespace
 
 // Main writer function - calls mjXWrite
-bool mjWriteXML(mjCModel* model, string filename, char* error, int error_sz) {
+string mjWriteXML(mjCModel* model, char* error, int error_sz) {
   LocaleOverride locale_override;
 
   // check for empty model
   if (!model) {
     mjCopyError(error, "Cannot write empty model", error_sz);
-    return false;
+    return "";
   }
 
-  // write
+  mjXWriter writer;
-  FILE* fp = fopen(filename.c_str(), "w");
+  writer.SetModel(model);
-  if (!fp) {
+  return writer.Write(error, error_sz);
-    mjCopyError(error, "File not found", error_sz);
-    return false;
-  }
-
-  try {
-    mjXWriter writer;
-    writer.SetModel(model);
-    writer.Write(fp);
-  }
-
-  // catch known errors
-  catch (mjXError err) {
-    mjCopyError(error, err.message, error_sz);
-    fclose(fp);
-    return false;
-  }
-
-  fclose(fp);
-  return true;
 }
 
 

src/xml/xml.h

@@ -23,7 +23,7 @@
 // Top level API
 
 // Main writer function
-bool mjWriteXML(mjCModel* model, std::string filename, char* error, int error_sz);
+std::string mjWriteXML(mjCModel* model, char* error, int error_sz);
 
 // Main parser function
 mjCModel* mjParseXML(const char* filename, int vfs_provider, char* error, int error_sz);

src/xml/xml_api.cc

@@ -137,24 +137,37 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
 int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz) {
   // serialize access to themodel
   std::lock_guard<std::mutex> lock(themutex);
+  FILE *fp = stdout;
 
   if (!themodel.model) {
     mjCopyError(error, "No XML model loaded", error_sz);
     return 0;
   }
 
-  themodel.model->CopyBack(m);
+  if (filename != nullptr && filename[0] != '\0') {
-  if (mjWriteXML(themodel.model, filename, error, error_sz)) {
+    fp = fopen(filename, "w");
-    if (error) {
+    if (!fp) {
-      error[0] = 0;
+      mjCopyError(error, "File not found", error_sz);
+      return 0;
     }
-    return 1;
-  } else {
-    return 0;
   }
+
+  themodel.model->CopyBack(m);
+  std::string result = mjWriteXML(themodel.model, error, error_sz);
+
+  if (!result.empty()) {
+    fprintf(fp, "%s", result.c_str());
+  }
+
+  if (fp != stdout) {
+    fclose(fp);
+  }
+
+  return !result.empty();
 }
 
 
+
 // free last XML
 void mj_freeLastXML(void) {
   // serialize access to themodel

src/xml/xml_base.h

@@ -15,6 +15,7 @@
 #ifndef MUJOCO_SRC_XML_XML_BASE_H_
 #define MUJOCO_SRC_XML_XML_BASE_H_
 
+#include <cstdlib>
 #include <string>
 
 #include "tinyxml2.h"
@@ -82,7 +83,9 @@ class mjXBase : public mjXUtil {
   virtual void Parse(tinyxml2::XMLElement* root) {};
 
   // write: implemented in derived writer class
-  virtual void Write(FILE* fp) {};
+  virtual std::string Write(char *error, std::size_t error_sz) {
+    return "";
+  };
 
   // set the model allocated externally
   void SetModel(mjCModel*);

src/xml/xml_native_writer.cc

@@ -59,11 +59,15 @@ class mj_XMLPrinter : public tinyxml2::XMLPrinter {
 
 
 // save XML file using custom 2-space indentation
-tinyxml2::XMLError SaveFile(XMLDocument& doc, FILE* fp) {
+static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
   doc.ClearError();
-  mj_XMLPrinter stream(fp, /*compact=*/false);
+  mj_XMLPrinter stream(nullptr, /*compact=*/false);
   doc.Print(&stream);
-  return doc.ErrorID();
+  if (doc.ErrorID()) {
+    mjCopyError(error, doc.ErrorStr(), error_sz);
+    return "";
+  }
+  return string(stream.CStr());
 }
 
 
@@ -682,10 +686,11 @@ mjXWriter::mjXWriter(void) {
 
 
 // save existing model in MJCF canonical format, must be compiled
-void mjXWriter::Write(FILE* fp) {
+string mjXWriter::Write(char *error, size_t error_sz) {
   // check model
   if (!model || !model->IsCompiled()) {
-    throw mjXError(0, "XML Write error: Only compiled model can be written");
+    mjCopyError(error, "XML Write error: Only compiled model can be written", error_sz);
+    return "";
   }
 
   // create document and root
@@ -722,8 +727,7 @@ void mjXWriter::Write(FILE* fp) {
   Sensor(root);
   Keyframe(root);
 
-  // save file
+  return WriteDoc(doc, error, error_sz);
-  SaveFile(doc, fp);
 }
 
 

src/xml/xml_native_writer.h

@@ -15,6 +15,7 @@
 #ifndef MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
 #define MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
 
+#include <cstdlib>
 #include <string>
 
 #include "xml/xml_base.h"
@@ -24,7 +25,9 @@ class mjXWriter : public mjXBase {
  public:
   mjXWriter();                                        // constructor
   virtual ~mjXWriter() = default;                     // destructor
-  void Write(FILE* fp);                               // write XML document
+
+  // write XML document to string
+  std::string Write(char *error, std::size_t error_sz);
 
  private:
   // insert end child with given name, return child

test/xml/xml_api_test.cc

@@ -14,6 +14,7 @@
 
 // Tests for xml/xml_api.cc.
 
+#include <array>
 #include <cstddef>
 #include <cstring>
 #include <string>
@@ -30,6 +31,7 @@ namespace {
 
 using ::testing::IsNull;
 using ::testing::NotNull;
+using ::testing::StartsWith;
 
 // ---------------------------- test mj_loadXML --------------------------------
 
@@ -54,16 +56,34 @@ TEST_F(LoadXmlTest, EmptyModel) {
 
 TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
   static constexpr char invalid_xml[] = "<mujoc";
-  char error[1024];
+  std::array<char, 1024> error;
-  size_t error_sz = 1024;
+  mjModel* model = LoadModelFromString(invalid_xml, error.data(), error.size());
-  mjModel* model = LoadModelFromString(invalid_xml, error, error_sz);
   EXPECT_THAT(model, IsNull()) << "Expected model loading to fail.";
-  EXPECT_GT(std::strlen(error), 0);
+  EXPECT_GT(std::strlen(error.data()), 0);
   if (model) {
     mj_deleteModel(model);
   }
 }
 // TODO(nimrod): Add more tests for mj_loadXML.
 
+using SaveLastXmlTest = MujocoTest;
+
+TEST_F(SaveLastXmlTest, EmptyModel) {
+  static constexpr char xml[] = "<mujoco/>";
+  mjModel* model = LoadModelFromString(xml, 0, 0);
+  mjData* data = mj_makeData(model);
+
+  std::array<char, 1024> error;
+  error.data()[0] = '\0';
+
+  testing::internal::CaptureStdout();
+  mj_saveLastXML(nullptr, model, error.data(), error.size());
+
+  EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith("<mujoco"));
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 }  // namespace
 }  // namespace mujoco