Add VFS handling logic to mj_openResource.
PiperOrigin-RevId: 653124909 Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
7f46e936f6
commit
2cf352c2e6
+105
-132
@@ -18,7 +18,6 @@
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <climits>
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#include <cstddef>
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#include <cstdint>
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#include <cstdio>
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@@ -35,12 +34,16 @@
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#endif
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#include <mujoco/mjplugin.h>
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#include <mujoco/mujoco.h>
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#include "engine/engine_plugin.h"
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#include "engine/engine_util_errmem.h"
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#include "engine/engine_util_misc.h"
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#include "user/user_util.h"
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#include "user/user_vfs.h"
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namespace {
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using mujoco::user::FileToMemory;
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// file buffer used internally for the OS filesystem
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struct FileSpec {
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bool is_read; // set to nonzero if buffer was read into
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@@ -48,11 +51,74 @@ struct FileSpec {
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time_t mtime; // last modified time
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};
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// callback for opening a resource, returns zero on failure
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int FileOpen(mjResource* resource, char* error, size_t nerror) {
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resource->provider = nullptr;
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resource->data = new FileSpec;
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const char* name = resource->name;
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FileSpec* spec = (FileSpec*) resource->data;
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spec->is_read = false;
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struct stat file_stat;
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if (stat(name, &file_stat) == 0) {
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memcpy(&spec->mtime, &file_stat.st_mtime, sizeof(time_t));
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} else {
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if (error) {
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snprintf(error, nerror, "Error opening file '%s': %s", name,
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strerror(errno));
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}
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return 0;
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}
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mju_encodeBase64(resource->timestamp, (uint8_t*) &spec->mtime,
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sizeof(time_t));
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return 1;
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}
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// OS filesystem read callback
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int FileRead(mjResource* resource, const void** buffer) {
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FileSpec* spec = (FileSpec*) resource->data;
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// only read once from file
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if (!spec->is_read) {
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spec->buffer = FileToMemory(resource->name);
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spec->is_read = true;
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}
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*buffer = spec->buffer.data();
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return spec->buffer.size();
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}
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// OS filesystem close callback
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void FileClose(mjResource* resource) {
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FileSpec* spec = (FileSpec*) resource->data;
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if (spec) delete spec;
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}
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// OS filesystem getdir callback
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void FileGetDir(mjResource* resource, const char** dir, int* ndir) {
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*dir = resource->name;
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*ndir = mjuu_dirnamelen(resource->name);
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}
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// OS filesystem modified callback
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int FileModified(const mjResource* resource, const char*timestamp) {
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if (mju_isValidBase64(timestamp) != sizeof(time_t)) {
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return 1; // error (assume modified)
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}
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time_t time1, time2;
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mju_decodeBase64((uint8_t*) &time1, timestamp);
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time2 = ((FileSpec*) resource->data)->mtime;
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double diff = difftime(time2, time1);
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if (diff < 0) return -1;
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if (diff > 0) return 1;
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return 0;
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}
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} // namespace
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// open the given resource; if the name doesn't have a prefix matching with a
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// resource provider, then the OS filesystem is used
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mjResource* mju_openResource(const char* name, char* error, size_t nerror) {
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mjResource* mju_openResource(const char* name, const mjVFS* vfs,
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char* error, size_t nerror) {
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// no error so far
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if (error) {
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error[0] = '\0';
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@@ -60,7 +126,10 @@ mjResource* mju_openResource(const char* name, char* error, size_t nerror) {
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mjResource* resource = (mjResource*) mju_malloc(sizeof(mjResource));
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if (resource == nullptr) {
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mjERROR("could not allocate memory");
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if (error) {
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strncpy(error, "could not allocate memory", nerror);
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error[nerror - 1] = '\0';
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}
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return nullptr;
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}
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@@ -70,16 +139,30 @@ mjResource* mju_openResource(const char* name, char* error, size_t nerror) {
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// copy name
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resource->name = (char*) mju_malloc(sizeof(char) * (strlen(name) + 1));
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if (resource->name == nullptr) {
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if (error) {
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strncpy(error, "could not allocate memory", nerror);
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error[nerror - 1] = '\0';
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}
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mju_closeResource(resource);
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mjERROR("could not allocate memory");
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return nullptr;
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}
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memcpy(resource->name, name, sizeof(char) * (strlen(name) + 1));
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// first priority is to check the VFS
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if (vfs != nullptr) {
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const mjpResourceProvider* provider = GetVfsResourceProvider();
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resource->data = (void*) vfs;
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resource->provider = provider;
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if (provider->open(resource)) {
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return resource;
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}
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}
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// find provider based off prefix of name
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const mjpResourceProvider* provider = mjp_getResourceProvider(name);
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if (provider != nullptr) {
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resource->provider = provider;
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resource->data = nullptr;
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if (provider->open(resource)) {
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return resource;
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}
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@@ -95,24 +178,11 @@ mjResource* mju_openResource(const char* name, char* error, size_t nerror) {
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}
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// lastly fallback to OS filesystem
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resource->provider = nullptr;
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resource->data = new FileSpec;
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FileSpec* spec = (FileSpec*) resource->data;
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spec->is_read = false;
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struct stat file_stat;
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if (stat(name, &file_stat) == 0) {
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memcpy(&spec->mtime, &file_stat.st_mtime, sizeof(time_t));
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} else {
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if (error) {
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snprintf(error, nerror, "Error opening file '%s': %s", name,
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strerror(errno));
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}
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mju_closeResource(resource);
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return nullptr;
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if (FileOpen(resource, error, nerror)) {
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return resource;
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}
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mju_encodeBase64(resource->timestamp, (uint8_t*) &spec->mtime,
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sizeof(time_t));
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return resource;
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mju_closeResource(resource);
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return nullptr;
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}
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@@ -124,14 +194,11 @@ void mju_closeResource(mjResource* resource) {
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}
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// use the resource provider close callback
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if (resource->provider && resource->provider->close) {
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resource->provider->close(resource);
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const mjpResourceProvider* provider = resource->provider;
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if (provider) {
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if (provider->close) provider->close(resource);
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} else {
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// clear OS filesystem if present
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FileSpec* spec = (FileSpec*) resource->data;
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if (spec) {
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delete spec;
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}
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FileClose(resource); // clear OS filesystem if present
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}
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// free resource
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@@ -149,36 +216,26 @@ int mju_readResource(mjResource* resource, const void** buffer) {
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}
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// if provider is NULL, then OS filesystem is used
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FileSpec* spec = (FileSpec*) resource->data;
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// only read once from file
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if (!spec->is_read) {
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spec->buffer = mju_fileToMemory(resource->name);
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spec->is_read = true;
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}
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*buffer = spec->buffer.data();
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return spec->buffer.size();
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return FileRead(resource, buffer);
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}
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// get directory path of resource
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void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
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*dir = NULL;
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*dir = nullptr;
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*ndir = 0;
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if (resource == NULL) {
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if (resource == nullptr) {
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return;
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}
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// provider is not OS filesystem
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if (resource->provider) {
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if (resource->provider->getdir) {
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resource->provider->getdir(resource, dir, ndir);
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}
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const mjpResourceProvider* provider = resource->provider;
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if (provider) {
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if (provider->getdir) provider->getdir(resource, dir, ndir);
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} else {
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*dir = resource->name;
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*ndir = mju_dirnamelen(resource->name);
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// fallback to OS filesystem
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FileGetDir(resource, dir, ndir);
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}
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}
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@@ -197,89 +254,5 @@ int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
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}
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// fallback to OS filesystem
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if (mju_isValidBase64(timestamp) != sizeof(time_t)) {
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return 1; // error (assume modified)
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}
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time_t time1, time2;
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mju_decodeBase64((uint8_t*) &time1, timestamp);
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time2 = ((FileSpec*) resource->data)->mtime;
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double diff = difftime(time2, time1);
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if (diff < 0) return -1;
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if (diff > 0) return 1;
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return 0;
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}
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// get the length of the dirname portion of a given path
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int mju_dirnamelen(const char* path) {
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if (!path) {
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return 0;
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}
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int pos = -1;
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for (int i = 0; path[i]; ++i) {
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if (path[i] == '/' || path[i] == '\\') {
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pos = i;
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}
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}
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return pos + 1;
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}
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// read file into memory buffer (allocated here with mju_malloc)
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std::vector<uint8_t> mju_fileToMemory(const char* filename) {
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FILE* fp = fopen(filename, "rb");
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if (!fp) {
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return {};
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}
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// find size
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if (fseek(fp, 0, SEEK_END) != 0) {
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fclose(fp);
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mju_warning("Failed to calculate size for '%s'", filename);
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return {};
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}
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// ensure file size fits in int
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long long_filesize = ftell(fp); // NOLINT(runtime/int)
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if (long_filesize > INT_MAX) {
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fclose(fp);
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mju_warning("File size over 2GB is not supported. File: '%s'", filename);
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return {};
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} else if (long_filesize < 0) {
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fclose(fp);
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mju_warning("Failed to calculate size for '%s'", filename);
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return {};
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}
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std::vector<uint8_t> buffer(long_filesize);
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// go back to start of file
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if (fseek(fp, 0, SEEK_SET) != 0) {
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fclose(fp);
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mju_warning("Read error while reading '%s'", filename);
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return {};
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}
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// allocate and read
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std::size_t bytes_read = fread(buffer.data(), 1, buffer.size(), fp);
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// check that read data matches file size
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if (bytes_read != buffer.size()) { // SHOULD NOT OCCUR
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if (ferror(fp)) {
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fclose(fp);
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mju_warning("Read error while reading '%s'", filename);
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return {};
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} else if (feof(fp)) {
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buffer.resize(bytes_read);
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}
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}
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// close file, return contents
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fclose(fp);
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return buffer;
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return FileModified(resource, timestamp);
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}
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