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Loop over all XML files in model/ and test/ subfolders when running xml load-save-load-compare test. XMLs referencing file assets are currently skipped.

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PiperOrigin-RevId: 450923388
Change-Id: I79c594fb4c4e065d67736f06d515abaa0dd763a4
This commit is contained in:
Alessio Quaglino
2022-05-25 07:55:48 -07:00
committed by Copybara-Service
parent aefab0e9dc
commit 4973f0d7f8
2 changed files with 18 additions and 10 deletions
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test/xml/CMakeLists.txt
+1 -1
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@@ -19,4 +19,4 @@ mujoco_test(xml_native_reader_test)
target_link_libraries(xml_native_reader_test fixture gmock) target_link_libraries(xml_native_reader_test fixture gmock)
mujoco_test(xml_native_writer_test) mujoco_test(xml_native_writer_test)
target_link_libraries(xml_native_writer_test fixture gmock) target_link_libraries(xml_native_writer_test fixture gmock absl::flat_hash_set)
test/xml/xml_native_writer_test.cc
+17 -9
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@@ -18,6 +18,7 @@
#include <unistd.h> #include <unistd.h>
#endif #endif
#include <algorithm>
#include <array> #include <array>
#include <clocale> #include <clocale>
#include <cstddef> #include <cstddef>
@@ -32,7 +33,9 @@
#include <gmock/gmock.h> #include <gmock/gmock.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <absl/container/flat_hash_set.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjxmacro.h> #include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "src/cc/array_safety.h" #include "src/cc/array_safety.h"
@@ -373,13 +376,14 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSi
if (m1->name != m2->name) {maxdif = 1.0; mju::strcpy_arr(field, #name);} if (m1->name != m2->name) {maxdif = 1.0; mju::strcpy_arr(field, #name);}
MJMODEL_INTS MJMODEL_INTS
#undef X #undef X
if (maxdif > 0) return maxdif;
// compare arrays // compare arrays
#define X(type, name, nr, nc) \ #define X(type, name, nr, nc) \
for (int r=0; r < m1->nr; r++) \ for (int r=0; r < m1->nr; r++) \
for (int c=0; c < nc; c++) { \ for (int c=0; c < nc; c++) { \
dif = Compare(m1->name[r*nc+c], m2->name[r*nc+c]); \ dif = Compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);} } if (dif > maxdif) { maxdif = dif; mju::strcpy_arr(field, #name);} }
MJMODEL_POINTERS MJMODEL_POINTERS
#undef X #undef X
@@ -405,7 +409,7 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSi
TEST_F(XMLWriterTest, WriteReadCompare) { TEST_F(XMLWriterTest, WriteReadCompare) {
FullFloatPrecision increase_precision; FullFloatPrecision increase_precision;
// Loop over all xml files in data // Loop over all xml files in data
std::vector<std::string> paths = {GetModelPath("humanoid"), GetModelPath("flag")}; std::vector<std::string> paths = {GetTestDataFilePath("."), GetModelPath(".")};
std::string ext(".xml"); std::string ext(".xml");
for (auto const& path : paths) { for (auto const& path : paths) {
for (auto &p : std::filesystem::recursive_directory_iterator(path)) { for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
@@ -419,23 +423,27 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
// make data // make data
mjData* d = mj_makeData(m); mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull()) << "Failed to load model: " << error.data(); ASSERT_THAT(d, testing::NotNull()) << "Failed to create data" << std::endl;
// save and load back // save and load back
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(m)); mjModel* mtemp = LoadModelFromString(SaveAndReadXml(m), error.data(), error.size());
ASSERT_THAT(mtemp, NotNull()) << "Failed to load model: " << error.data();
// compare if (!mtemp) {
// if failing because assets are missing, accept the test
ASSERT_THAT(error.data(), HasSubstr("file")) << error.data();
} else {
// compare and delete
char field[kFieldSize] = ""; char field[kFieldSize] = "";
mjtNum result = CompareModel(m, mtemp, field); mjtNum result = CompareModel(m, mtemp, field);
EXPECT_LE(result, 0) << "Loaded and saved models are different!" << std::endl EXPECT_LE(result, 0) << "Loaded and saved models are different!" << std::endl
<< "Affected file " << p.path().string() << std::endl << "Affected file " << p.path().string() << std::endl
<< "Different field: " << field << std::endl; << "Different field: " << field << std::endl;
mj_deleteModel(mtemp);
}
// delete everything // delete original structures
mj_deleteData(d); mj_deleteData(d);
mj_deleteModel(m); mj_deleteModel(m);
mj_deleteModel(mtemp);
} }
} }
} }