Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.
PiperOrigin-RevId: 608312069 Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
b77dfc683a
commit
24eb4c9f09
@@ -464,6 +464,21 @@ TEST_F(XMLReaderTest, RepeatedDefaultName) {
|
||||
|
||||
// ------------------------ test including -------------------------------------
|
||||
|
||||
// credit: https://www.mjt.me.uk/posts/smallest-png/
|
||||
static constexpr unsigned char kTinyPng[] =
|
||||
{ 0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00,
|
||||
0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x03, 0x00,
|
||||
0x00, 0x00, 0x66, 0xBC, 0x3A, 0x25, 0x00, 0x00, 0x00,
|
||||
0x03, 0x50, 0x4C, 0x54, 0x45, 0xB5, 0xD0, 0xD0, 0x63,
|
||||
0x04, 0x16, 0xEA, 0x00, 0x00, 0x00, 0x1F, 0x49, 0x44,
|
||||
0x41, 0x54, 0x68, 0x81, 0xED, 0xC1, 0x01, 0x0D, 0x00,
|
||||
0x00, 0x00, 0xC2, 0xA0, 0xF7, 0x4F, 0x6D, 0x0E, 0x37,
|
||||
0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0xBE, 0x0D, 0x21, 0x00, 0x00, 0x01, 0x9A, 0x60, 0xE1,
|
||||
0xD5, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4E, 0x44,
|
||||
0xAE, 0x42, 0x60, 0x82 };
|
||||
|
||||
TEST_F(XMLReaderTest, IncludeTest) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
@@ -542,7 +557,6 @@ TEST_F(XMLReaderTest, IncludeSameFileTest) {
|
||||
<geom name="box" type="box" size="1 1 1"/>
|
||||
</mujoco>)";
|
||||
|
||||
|
||||
auto vfs = std::make_unique<mjVFS>();
|
||||
mj_defaultVFS(vfs.get());
|
||||
|
||||
@@ -558,7 +572,229 @@ TEST_F(XMLReaderTest, IncludeSameFileTest) {
|
||||
mj_deleteVFS(vfs.get());
|
||||
}
|
||||
|
||||
TEST_F(XMLReaderTest, IncludePathTest) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<geom name="plane" type="plane" size="1 1 1"/>
|
||||
<include file="submodels/model1.xml"/>
|
||||
<include file="submodels/model2.xml"/>
|
||||
</worldbody>
|
||||
</mujoco>)";
|
||||
|
||||
static constexpr char xml1[] = R"(
|
||||
<mujoco>
|
||||
<geom name="box" type="box" size="1 1 1"/>
|
||||
</mujoco>)";
|
||||
|
||||
static constexpr char xml2[]= R"(
|
||||
<mujoco>
|
||||
<geom name="ball" type="sphere" size="2"/>
|
||||
<include file="subsubmodels/model3.xml"/>
|
||||
</mujoco>)";
|
||||
|
||||
static constexpr char xml3[]= R"(
|
||||
<mujoco>
|
||||
<geom name="another_box" type="box" size="2 2 2"/>
|
||||
</mujoco>)";
|
||||
|
||||
MockFilesystem fs("IncludePathTest");
|
||||
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
|
||||
std::string modelpath = fs.FullPath("model.xml");
|
||||
|
||||
fs.ChangeDirectory("submodels/");
|
||||
fs.AddFile("model1.xml", (const unsigned char*) xml1, sizeof(xml1));
|
||||
fs.AddFile("model2.xml", (const unsigned char*) xml2, sizeof(xml2));
|
||||
fs.AddFile("subsubmodels/model3.xml", (const unsigned char*) xml3, sizeof(xml3));
|
||||
fs.ChangeDirectory("/");
|
||||
|
||||
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
|
||||
nullptr, 0);
|
||||
ASSERT_THAT(model, NotNull());
|
||||
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
|
||||
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(XMLReaderTest, FallbackIncludePathTest) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<geom name="plane" type="plane" size="1 1 1"/>
|
||||
<include file="model1.xml"/>
|
||||
<include file="submodels/model2.xml"/>
|
||||
</worldbody>
|
||||
</mujoco>)";
|
||||
|
||||
static constexpr char xml1[] = R"(
|
||||
<mujoco>
|
||||
<geom name="box" type="box" size="1 1 1"/>
|
||||
</mujoco>)";
|
||||
|
||||
static constexpr char xml2[]= R"(
|
||||
<mujoco>
|
||||
<geom name="ball" type="sphere" size="2"/>
|
||||
<include file="subsubmodels/model3.xml"/>
|
||||
</mujoco>)";
|
||||
|
||||
static constexpr char xml3[]= R"(
|
||||
<mujoco>
|
||||
<geom name="another_box" type="box" size="2 2 2"/>
|
||||
</mujoco>)";
|
||||
|
||||
MockFilesystem fs("FallbackIncludePathTest");
|
||||
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
|
||||
std::string modelpath = fs.FullPath("model.xml");
|
||||
|
||||
fs.AddFile("model1.xml", (const unsigned char*) xml1, sizeof(xml1));
|
||||
fs.AddFile("submodels/model2.xml", (const unsigned char*) xml2, sizeof(xml2));
|
||||
fs.AddFile("subsubmodels/model3.xml", (const unsigned char*) xml3,
|
||||
sizeof(xml3));
|
||||
|
||||
std::array<char, 1024> error;
|
||||
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
|
||||
error.data(), error.size());
|
||||
ASSERT_THAT(model, NotNull());
|
||||
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
|
||||
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(XMLReaderTest, IncludeAssetsTest) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<include file="assets/assets.xml"/>
|
||||
<worldbody>
|
||||
<geom type="plane" material="material" size="4 4 4"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
static constexpr char assets[] = R"(
|
||||
<mujoco>
|
||||
<asset>
|
||||
<texture file="tiny.png" type="2d"/>
|
||||
<material name="material" texture="tiny"/>
|
||||
<include file="subassets/assets.xml"/>
|
||||
</asset>
|
||||
</mujoco>
|
||||
)";
|
||||
static constexpr char subassets[] = R"(
|
||||
<mujoco>
|
||||
<texture file="subtiny.png" type="2d"/>
|
||||
<material name="submaterial" texture="subtiny"/>
|
||||
</mujoco>
|
||||
)";
|
||||
|
||||
MockFilesystem fs("IncludeAssetsTest");
|
||||
fs.AddFile("assets/tiny.png", kTinyPng, sizeof(kTinyPng));
|
||||
fs.AddFile("assets/subassets/subtiny.png", kTinyPng, sizeof(kTinyPng));
|
||||
fs.AddFile("assets/assets.xml", (const unsigned char*) assets,
|
||||
sizeof(assets));
|
||||
fs.AddFile("assets/subassets/assets.xml", (const unsigned char*) subassets,
|
||||
sizeof(subassets));
|
||||
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
|
||||
std::string modelpath = fs.FullPath("model.xml");
|
||||
|
||||
// loading the file should be successful
|
||||
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr, nullptr, 0);
|
||||
|
||||
EXPECT_THAT(model, NotNull());
|
||||
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(XMLReaderTest, FallbackIncludeAssetsTest) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<include file="assets/assets.xml"/>
|
||||
<worldbody>
|
||||
<geom type="plane" material="material" size="4 4 4"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
static constexpr char assets[] = R"(
|
||||
<mujoco>
|
||||
<asset>
|
||||
<texture file="tiny.png" type="2d"/>
|
||||
<material name="material" texture="tiny"/>
|
||||
<include file="subassets/assets.xml"/>
|
||||
</asset>
|
||||
</mujoco>
|
||||
)";
|
||||
static constexpr char subassets[] = R"(
|
||||
<mujoco>
|
||||
<texture file="subtiny.png" type="2d"/>
|
||||
<material name="submaterial" texture="subtiny"/>
|
||||
</mujoco>
|
||||
)";
|
||||
|
||||
MockFilesystem fs("FallbackIncludeAssetsTest");
|
||||
fs.AddFile("assets/tiny.png", kTinyPng, sizeof(kTinyPng));
|
||||
|
||||
// need to fallback for backwards compatibility
|
||||
fs.AddFile("subtiny.png", kTinyPng, sizeof(kTinyPng));
|
||||
|
||||
fs.AddFile("assets/assets.xml", (const unsigned char*) assets,
|
||||
sizeof(assets));
|
||||
fs.AddFile("assets/subassets/assets.xml", (const unsigned char*) subassets,
|
||||
sizeof(subassets));
|
||||
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
|
||||
std::string modelpath = fs.FullPath("model.xml");
|
||||
|
||||
// loading the file should be successful
|
||||
std::array<char, 1024> error;
|
||||
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
|
||||
error.data(), error.size());
|
||||
EXPECT_THAT(model, NotNull());
|
||||
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(XMLReaderTest, IncludeAbsoluteTest) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<include file="assets/assets.xml"/>
|
||||
<worldbody>
|
||||
<geom type="plane" material="material" size="4 4 4"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
static constexpr char assets[] = R"(
|
||||
<mujoco>
|
||||
<asset>
|
||||
<texture file="tiny.png" type="2d"/>
|
||||
<material name="material" texture="tiny"/>
|
||||
<include file="subassets/assets.xml"/>
|
||||
</asset>
|
||||
</mujoco>
|
||||
)";
|
||||
static constexpr char subassets[] = R"(
|
||||
<mujoco>
|
||||
<texture file="MjMock.IncludeAbsoluteTest:assets/subtiny.png" type="2d"/>
|
||||
<material name="submaterial" texture="subtiny"/>
|
||||
</mujoco>
|
||||
)";
|
||||
|
||||
MockFilesystem fs("IncludeAbsoluteTest");
|
||||
fs.AddFile("assets/tiny.png", kTinyPng, sizeof(kTinyPng));
|
||||
fs.AddFile("assets/subtiny.png", kTinyPng, sizeof(kTinyPng));
|
||||
fs.AddFile("assets/assets.xml", (const unsigned char*) assets,
|
||||
sizeof(assets));
|
||||
fs.AddFile("assets/subassets/assets.xml", (const unsigned char*) subassets,
|
||||
sizeof(subassets));
|
||||
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
|
||||
std::string modelpath = fs.FullPath("model.xml");
|
||||
|
||||
std::array<char, 1024> error;
|
||||
// loading the file should be successful
|
||||
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
|
||||
error.data(), error.size());
|
||||
EXPECT_THAT(model, NotNull());
|
||||
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
// ------------------------ test frame parsing ---------------------------------
|
||||
|
||||
TEST_F(XMLReaderTest, ParseFrame) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
|
||||
Reference in New Issue
Block a user