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Move engine/engine_vfs.{c,h} to user/user_vfs.{c,h}.

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PiperOrigin-RevId: 636219666
Change-Id: I820de511948e82256784edb0893f209a73b221e6
This commit is contained in:
Kyle Bayes
2024-05-22 10:43:35 -07:00
committed by Copybara-Service
parent 0108b7b569
commit 50aab2dd48
10 changed files with 15 additions and 13 deletions
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test/engine/CMakeLists.txt
-3
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@@ -96,9 +96,6 @@ target_link_libraries(engine_util_solve_test fixture gmock)
mujoco_test(engine_util_spatial_test)
target_link_libraries(engine_util_spatial_test fixture gmock)
mujoco_test(engine_vfs_test)
target_link_libraries(engine_vfs_test fixture gmock)
mujoco_test(
engine_vis_state_test
PROPERTIES
test/engine/engine_vfs_test.cc
-127
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@@ -1,127 +0,0 @@
// Copyright 2021 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 <array>
#include <cstdio>
#include <memory>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_resource.h"
#include "src/engine/engine_vfs.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::NotNull;
using EngineVfsTest = MujocoTest;
TEST_F(EngineVfsTest, AddFile) {
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file1 = "activation.xml";
std::string file2 = "damper.xml";
std::string file3 = "refsite.xml";
std::FILE* fp1 = std::fopen((dir + file1).c_str(), "r");
ASSERT_THAT(fp1, NotNull()) << "Input file1 missing.";
std::fclose(fp1);
std::FILE* fp2 = std::fopen((dir + file2).c_str(), "r");
ASSERT_THAT(fp2, NotNull()) << "Input file2 missing.";
std::fclose(fp2);
std::FILE* fp3 = std::fopen((dir + file3).c_str(), "r");
ASSERT_THAT(fp3, NotNull()) << "Input file3 missing.";
std::fclose(fp3);
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
EXPECT_THAT(vfs->nfile, 0);
EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file1.c_str()), 0);
EXPECT_THAT(vfs->nfile, 1);
EXPECT_THAT(vfs->filename[0], file1);
EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file2.c_str()), 0);
EXPECT_THAT(vfs->nfile, 2);
EXPECT_THAT(vfs->filename[0], file1);
EXPECT_THAT(vfs->filename[1], file2);
EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file3.c_str()), 0);
EXPECT_THAT(vfs->nfile, 3);
EXPECT_THAT(vfs->filename[0], file1);
EXPECT_THAT(vfs->filename[1], file2);
EXPECT_THAT(vfs->filename[2], file3);
mj_deleteFileVFS(vfs.get(), file1.c_str());
EXPECT_THAT(vfs->nfile, 2);
EXPECT_THAT(vfs->filename[0], file2);
EXPECT_THAT(vfs->filename[1], file3);
mj_deleteFileVFS(vfs.get(), file3.c_str());
EXPECT_THAT(vfs->nfile, 1);
EXPECT_THAT(vfs->filename[0], file2);
mj_deleteFileVFS(vfs.get(), file2.c_str());
EXPECT_THAT(vfs->nfile, 0);
mj_deleteVFS(vfs.get());
}
TEST_F(EngineVfsTest, AddBuffer) {
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
std::string buffer = "<mujoco/>";
mj_addBufferVFS(vfs.get(), "model", static_cast<const void*>(buffer.c_str()),
buffer.size());
std::array<char, 1024> error;
mjModel* model = mj_loadXML("model", vfs.get(), error.data(), error.size());
EXPECT_THAT(model, NotNull());
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
TEST_F(EngineVfsTest, Timestamps) {
static constexpr char cube[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
mjResource* resource = mju_openVfsResource("cube.obj", vfs.get());
// same timestamps
EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
// different timestamps
EXPECT_EQ(mju_isModifiedResource(resource, "QQ=="), 1);
mju_closeResource(resource);
mj_deleteVFS(vfs.get());
}
} // namespace
} // namespace mujoco