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Add VFS handling logic to mj_openResource.

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PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
This commit is contained in:
Kyle Bayes
2024-07-17 00:40:20 -07:00
committed by Copybara-Service
parent 7f46e936f6
commit 2cf352c2e6
13 changed files with 244 additions and 247 deletions
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src/xml/xml.cc
+19 -27
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@@ -173,27 +173,23 @@ static void mjIncludeXML(mjXReader& reader, XMLElement* elem,
} else {
fullname = filename;
}
mjResource *resource = mju_openVfsResource(fullname.c_str(), vfs);
if (!resource) {
// load from provider or OS filesystem
std::array<char, 1024> error;
resource = mju_openResource(fullname.c_str(), error.data(), error.size());
if (!resource) {
if (!mjuu_isabspath(filename)) {
fullname = std::string(dir) + filename;
} else {
fullname = filename;
}
// load from provider or OS filesystem
std::array<char, 1024> error;
resource = mju_openResource(fullname.c_str(), error.data(), error.size());
if (!resource) {
throw mjXError(elem, "%s", error.data());
}
// legacy behavior: try to load in top level directory
std::array<char, 1024> error;
mjResource *resource = mju_openResource(fullname.c_str(), vfs,
error.data(), error.size());
if (resource == nullptr) {
// new behavior: try to load in relative directory
if (!mjuu_isabspath(filename)) {
fullname = std::string(dir) + filename;
resource = mju_openResource(fullname.c_str(), vfs, error.data(), error.size());
}
}
if (resource == nullptr) {
throw mjXError(elem, "%s", error.data());
}
if (!mjuu_isabspath(filename)) {
filename = std::string(dir) + filename;
}
@@ -293,16 +289,12 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
// get data source
const char* xmlstring = nullptr;
mjResource* resource = mju_openVfsResource(filename, vfs);
if (!resource) {
// load from provider or fallback to OS filesystem
std::array<char, 1024> rerror;
resource = mju_openResource(filename, rerror.data(), rerror.size());
if (!resource) {
std::snprintf(error, error_sz, "mjParseXML: %s", rerror.data());
return nullptr;
}
std::array<char, 1024> rerror;
mjResource* resource = mju_openResource(filename, vfs,
rerror.data(), rerror.size());
if (resource == nullptr) {
std::snprintf(error, error_sz, "mjParseXML: %s", rerror.data());
return nullptr;
}
int buffer_size = mju_readResource(resource, (const void**) &xmlstring);