Move user_resource.c to C++.
PiperOrigin-RevId: 650592110 Change-Id: I5e043970e3aa722e3961e478334cad4f3f1c191e
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
70f86617f8
commit
450e7ff777
@@ -0,0 +1,285 @@
|
||||
// Copyright 2022 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include "user/user_resource.h"
|
||||
|
||||
#include <errno.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
#include <climits>
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
#include <cstdio>
|
||||
#include <cstring>
|
||||
#include <ctime>
|
||||
#include <vector>
|
||||
|
||||
#if defined (__unix__) || (defined (__APPLE__) && defined (__MACH__))
|
||||
#include <unistd.h>
|
||||
#endif
|
||||
|
||||
#ifdef _WIN32
|
||||
#define stat _stat
|
||||
#endif
|
||||
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include "engine/engine_plugin.h"
|
||||
#include "engine/engine_util_errmem.h"
|
||||
#include "engine/engine_util_misc.h"
|
||||
|
||||
namespace {
|
||||
|
||||
// file buffer used internally for the OS filesystem
|
||||
struct FileSpec {
|
||||
bool is_read; // set to nonzero if buffer was read into
|
||||
std::vector<uint8_t> buffer; // raw bytes from file
|
||||
time_t mtime; // last modified time
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
// open the given resource; if the name doesn't have a prefix matching with a
|
||||
// resource provider, then the OS filesystem is used
|
||||
mjResource* mju_openResource(const char* name, char* error, size_t nerror) {
|
||||
// no error so far
|
||||
if (error) {
|
||||
error[0] = '\0';
|
||||
}
|
||||
|
||||
mjResource* resource = (mjResource*) mju_malloc(sizeof(mjResource));
|
||||
if (resource == nullptr) {
|
||||
mjERROR("could not allocate memory");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// clear out resource
|
||||
memset(resource, 0, sizeof(mjResource));
|
||||
|
||||
// copy name
|
||||
resource->name = (char*) mju_malloc(sizeof(char) * (strlen(name) + 1));
|
||||
if (resource->name == nullptr) {
|
||||
mju_closeResource(resource);
|
||||
mjERROR("could not allocate memory");
|
||||
return nullptr;
|
||||
}
|
||||
memcpy(resource->name, name, sizeof(char) * (strlen(name) + 1));
|
||||
|
||||
// find provider based off prefix of name
|
||||
const mjpResourceProvider* provider = mjp_getResourceProvider(name);
|
||||
if (provider != nullptr) {
|
||||
resource->provider = provider;
|
||||
if (provider->open(resource)) {
|
||||
return resource;
|
||||
}
|
||||
|
||||
if (error) {
|
||||
snprintf(error, nerror, "could not open '%s'"
|
||||
"using a resource provider matching prefix '%s'",
|
||||
name, provider->prefix);
|
||||
}
|
||||
|
||||
mju_closeResource(resource);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// lastly fallback to OS filesystem
|
||||
resource->provider = nullptr;
|
||||
resource->data = new FileSpec;
|
||||
FileSpec* spec = (FileSpec*) resource->data;
|
||||
spec->is_read = false;
|
||||
struct stat file_stat;
|
||||
if (stat(name, &file_stat) == 0) {
|
||||
memcpy(&spec->mtime, &file_stat.st_mtime, sizeof(time_t));
|
||||
} else {
|
||||
if (error) {
|
||||
snprintf(error, nerror, "Error opening file '%s': %s", name,
|
||||
strerror(errno));
|
||||
}
|
||||
mju_closeResource(resource);
|
||||
return nullptr;
|
||||
}
|
||||
mju_encodeBase64(resource->timestamp, (uint8_t*) &spec->mtime,
|
||||
sizeof(time_t));
|
||||
return resource;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// close the given resource; no-op if resource is NULL
|
||||
void mju_closeResource(mjResource* resource) {
|
||||
if (resource == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
// use the resource provider close callback
|
||||
if (resource->provider && resource->provider->close) {
|
||||
resource->provider->close(resource);
|
||||
} else {
|
||||
// clear OS filesystem if present
|
||||
FileSpec* spec = (FileSpec*) resource->data;
|
||||
if (spec) {
|
||||
delete spec;
|
||||
}
|
||||
}
|
||||
|
||||
// free resource
|
||||
if (resource->name) mju_free(resource->name);
|
||||
mju_free(resource);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// set buffer to bytes read from the resource and return number of bytes in
|
||||
// buffer; return negative value if error
|
||||
int mju_readResource(mjResource* resource, const void** buffer) {
|
||||
if (resource->provider) {
|
||||
return resource->provider->read(resource, buffer);
|
||||
}
|
||||
|
||||
// if provider is NULL, then OS filesystem is used
|
||||
FileSpec* spec = (FileSpec*) resource->data;
|
||||
|
||||
// only read once from file
|
||||
if (!spec->is_read) {
|
||||
spec->buffer = mju_fileToMemory(resource->name);
|
||||
spec->is_read = true;
|
||||
}
|
||||
*buffer = spec->buffer.data();
|
||||
return spec->buffer.size();
|
||||
}
|
||||
|
||||
|
||||
|
||||
// get directory path of resource
|
||||
void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
|
||||
*dir = NULL;
|
||||
*ndir = 0;
|
||||
|
||||
if (resource == NULL) {
|
||||
return;
|
||||
}
|
||||
|
||||
// provider is not OS filesystem
|
||||
if (resource->provider) {
|
||||
if (resource->provider->getdir) {
|
||||
resource->provider->getdir(resource, dir, ndir);
|
||||
}
|
||||
} else {
|
||||
*dir = resource->name;
|
||||
*ndir = mju_dirnamelen(resource->name);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return 0 if the resource's timestamp matches the provided timestamp
|
||||
// return > 0 if the the resource is younger than the given timestamp
|
||||
// return < 0 if the resource is older than the given timestamp
|
||||
int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
|
||||
// provider is not OS filesystem
|
||||
if (resource->provider) {
|
||||
if (resource->provider->modified) {
|
||||
return resource->provider->modified(resource, timestamp);
|
||||
}
|
||||
return 1; // default (modified)
|
||||
}
|
||||
|
||||
// fallback to OS filesystem
|
||||
if (mju_isValidBase64(timestamp) != sizeof(time_t)) {
|
||||
return 1; // error (assume modified)
|
||||
}
|
||||
|
||||
time_t time1, time2;
|
||||
mju_decodeBase64((uint8_t*) &time1, timestamp);
|
||||
time2 = ((FileSpec*) resource->data)->mtime;
|
||||
double diff = difftime(time2, time1);
|
||||
if (diff < 0) return -1;
|
||||
if (diff > 0) return 1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// get the length of the dirname portion of a given path
|
||||
int mju_dirnamelen(const char* path) {
|
||||
if (!path) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int pos = -1;
|
||||
for (int i = 0; path[i]; ++i) {
|
||||
if (path[i] == '/' || path[i] == '\\') {
|
||||
pos = i;
|
||||
}
|
||||
}
|
||||
|
||||
return pos + 1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// read file into memory buffer (allocated here with mju_malloc)
|
||||
std::vector<uint8_t> mju_fileToMemory(const char* filename) {
|
||||
FILE* fp = fopen(filename, "rb");
|
||||
if (!fp) {
|
||||
return {};
|
||||
}
|
||||
|
||||
// find size
|
||||
if (fseek(fp, 0, SEEK_END) != 0) {
|
||||
fclose(fp);
|
||||
mju_warning("Failed to calculate size for '%s'", filename);
|
||||
return {};
|
||||
}
|
||||
|
||||
// ensure file size fits in int
|
||||
long long_filesize = ftell(fp); // NOLINT(runtime/int)
|
||||
if (long_filesize > INT_MAX) {
|
||||
fclose(fp);
|
||||
mju_warning("File size over 2GB is not supported. File: '%s'", filename);
|
||||
return {};
|
||||
} else if (long_filesize < 0) {
|
||||
fclose(fp);
|
||||
mju_warning("Failed to calculate size for '%s'", filename);
|
||||
return {};
|
||||
}
|
||||
|
||||
std::vector<uint8_t> buffer(long_filesize);
|
||||
|
||||
// go back to start of file
|
||||
if (fseek(fp, 0, SEEK_SET) != 0) {
|
||||
fclose(fp);
|
||||
mju_warning("Read error while reading '%s'", filename);
|
||||
return {};
|
||||
}
|
||||
|
||||
// allocate and read
|
||||
std::size_t bytes_read = fread(buffer.data(), 1, buffer.size(), fp);
|
||||
|
||||
// check that read data matches file size
|
||||
if (bytes_read != buffer.size()) { // SHOULD NOT OCCUR
|
||||
if (ferror(fp)) {
|
||||
fclose(fp);
|
||||
mju_warning("Read error while reading '%s'", filename);
|
||||
return {};
|
||||
} else if (feof(fp)) {
|
||||
buffer.resize(bytes_read);
|
||||
}
|
||||
}
|
||||
|
||||
// close file, return contents
|
||||
fclose(fp);
|
||||
return buffer;
|
||||
}
|
||||
Reference in New Issue
Block a user