Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.
* Replace various MJOPTION_ macros with a single MJOPTION_FIELDS. * Use XVEC macro to denote vector members where there is a mixture of vector and scalar members in a given struct type. * Split up MJVISUAL_FIELDS into separate macros for each substruct. * Modify engine_print.c and Python bindings struct.h/cc to use the new X macros. PiperOrigin-RevId: 869760513 Change-Id: Idac4fe9aa99f0258e7c79802ca9023a0d4486e2d
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
6d8b6028e2
commit
5274e5f720
+5
-8
@@ -274,19 +274,16 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
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MJMODEL_POINTERS
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#undef X
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// compare scalars in mjOption
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#define X(type, name) \
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// compare fields in mjOption
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#define X(type, name, n) \
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dif = Compare(m1->opt.name, m2->opt.name); \
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if (dif > maxdif) {maxdif = dif; field = #name;}
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MJOPTION_SCALARS
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#undef X
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// compare arrays in mjOption
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#define X(name, n) \
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#define XVEC(type, name, n) \
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for (int c=0; c < n; c++) { \
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dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
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if (dif > maxdif) {maxdif = dif; field = #name;} }
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MJOPTION_VECTORS
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MJOPTION_FIELDS
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#undef XVEC
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#undef X
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// Return largest difference and field name
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+204
-31
@@ -24,6 +24,7 @@
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mjui.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mjxmacro.h>
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@@ -110,86 +111,258 @@ TEST_F(HeaderTest, EnumsAreInts) {
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EXPECT_EQ(sizeof(mjtStereo), sizeof(int));
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}
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TEST_F(HeaderTest, MjOptionFloatsOrdered) {
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TEST_F(HeaderTest, MjOptionFields) {
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mjOption o;
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std::vector<std::pair<const void*, const char*>> floats;
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std::vector<std::pair<const void*, const char*>> fields;
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#define X(type, name) \
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floats.push_back({static_cast<const void*>(&o.name), #name});
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MJOPTION_FLOATS
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// check that all X macros have the correct type and dim
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#define XIMPL(type, name, dim) \
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static_assert( \
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std::is_same_v<decltype(mjOption::name), ArrayOrScalarT<type, dim>>, \
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"incorrect type for mjOption::" #name);
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#define X(type, name, dim) \
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static_assert(dim == 1, "use XVEC for non-scalar fields"); \
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XIMPL(type, name, dim)
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#define XVEC(type, name, dim) \
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static_assert(dim > 1, "use X for scalar fields"); \
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XIMPL(type, name, dim)
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MJOPTION_FIELDS
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#undef XVEC
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#undef X
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#undef XIMPL
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// check that the ordering of X macros agrees with the struct fields
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#define X(type, name, dim) \
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fields.push_back({static_cast<const void*>(&o.name), #name});
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#define XVEC X
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MJOPTION_FIELDS
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#undef XVEC
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#undef X
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CheckAddressOrdering(floats, "MJOPTION_FLOATS");
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}
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CheckAddressOrdering(fields, "MJOPTION_FIELDS");
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TEST_F(HeaderTest, MjOptionVectorsOrdered) {
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mjOption o;
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std::vector<std::pair<const void*, const char*>> vectors;
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#define X(name, dim) \
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vectors.push_back({static_cast<const void*>(&o.name), #name});
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MJOPTION_VECTORS
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// check that MJOPTION_FIELDS is a complete list of struct fields
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struct ExpectedMjOption {
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#define XVEC(type, name, dim) type name[dim];
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#define X XVEC
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MJOPTION_FIELDS
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#undef X
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CheckAddressOrdering(vectors, "MJOPTION_VECTORS");
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#undef XVEC
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};
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static_assert(sizeof(mjOption) == sizeof(ExpectedMjOption));
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static_assert(alignof(mjOption) == alignof(ExpectedMjOption));
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}
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TEST_F(HeaderTest, MjStatisticFields) {
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mjStatistic s;
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std::vector<std::pair<const void*, const char*>> fields;
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// All fields in mjStatistic are expected to be of type mjtNum.
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using ScalarType = mjtNum;
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// check that all X macros have the correct type and dim
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#define X(type, name, dim) \
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static_assert( \
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std::is_same_v<decltype(mjStatistic::name), ArrayOrScalarT<type, dim>>, \
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"incorrect type for mjStatistic::" #name); \
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#define XIMPL(name, dim) \
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static_assert(std::is_same_v<decltype(mjStatistic::name), \
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ArrayOrScalarT<ScalarType, dim>>, \
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"incorrect type for mjStatistic::" #name);
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#define X(name, dim) \
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static_assert(dim == 1, "use XVEC for non-scalar fields"); \
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XIMPL(name, dim)
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#define XVEC(name, dim) \
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static_assert(dim > 1, "use X for scalar fields"); \
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XIMPL(name, dim)
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MJSTATISTIC_FIELDS
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#undef XVEC
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#undef X
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#undef XIMPL
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// check that the ordering of X macros agrees with the struct fields
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#define X(type, name, dim) \
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#define X(name, dim) \
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fields.push_back({static_cast<const void*>(&s.name), #name});
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#define XVEC X
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MJSTATISTIC_FIELDS
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#undef XVEC
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#undef X
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CheckAddressOrdering(fields, "MJSTATISTIC_FIELDS");
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// check that MJSTATISTIC_FIELDS is a complete list of struct fields
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struct ExpectedMjStatistic {
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#define X(type, name, dim) type name[dim];
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#define XVEC(name, dim) ScalarType name[dim];
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#define X XVEC
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MJSTATISTIC_FIELDS;
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#undef XVEC
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#undef X
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};
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static_assert(sizeof(mjStatistic) == sizeof(ExpectedMjStatistic));
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static_assert(alignof(mjStatistic) == alignof(ExpectedMjStatistic));
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}
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TEST_F(HeaderTest, MjVisualFields) {
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mjVisual v;
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std::vector<std::pair<const void*, const char*>> fields;
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// All member fields in quality, map, scale, and rgba have the same type.
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using QualityMemberType = int;
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using MapMemberType = float;
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using ScaleMemberType = float;
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using RgbaMemberType = float[4];
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// check that all X macros have the correct type and dim
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#define X(substruct, type, name, dim) \
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#define X(type, name) \
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static_assert( \
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std::is_same_v<decltype(v.global.name), type>, \
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"incorrect type for mjVisual::global::" #name);
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MJVISUAL_GLOBAL_FIELDS
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#undef X
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#define X(name) \
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static_assert( \
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std::is_same_v<decltype(v.quality.name), QualityMemberType>, \
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"incorrect type for mjVisual::quality::" #name);
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MJVISUAL_QUALITY_FIELDS
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#undef X
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#define XIMPL(type, name, dim) \
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static_assert( \
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std::is_same_v<decltype(v.substruct.name), ArrayOrScalarT<type, dim>>, \
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"incorrect type for mjVisual::" #substruct "::" #name); \
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MJVISUAL_FIELDS
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std::is_same_v<decltype(v.headlight.name), ArrayOrScalarT<type, dim>>, \
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"incorrect type for mjVisual::headlight::" #name);
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#define X(type, name, dim) \
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static_assert(dim == 1, "use XVEC for non-scalar fields"); \
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XIMPL(type, name, dim)
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#define XVEC(type, name, dim) \
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static_assert(dim > 1, "use X for scalar fields"); \
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XIMPL(type, name, dim)
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MJVISUAL_HEADLIGHT_FIELDS
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#undef X
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#undef XVEC
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#define X(name) \
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static_assert( \
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std::is_same_v<decltype(v.map.name), MapMemberType>, \
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"incorrect type for mjVisual::map::" #name);
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MJVISUAL_MAP_FIELDS
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#undef X
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#define X(name) \
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static_assert( \
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std::is_same_v<decltype(v.scale.name), ScaleMemberType>, \
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"incorrect type for mjVisual::scale::" #name);
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MJVISUAL_SCALE_FIELDS
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#undef X
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#define X(name) \
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static_assert( \
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std::is_same_v<decltype(v.rgba.name), RgbaMemberType>, \
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"incorrect type for mjVisual::rgba::" #name);
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MJVISUAL_RGBA_FIELDS
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#undef X
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// check that the ordering of X macros agrees with the struct fields
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#define X(substruct, type, name, dim) \
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fields.push_back({static_cast<const void*>(&v.substruct.name), #name});
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MJVISUAL_FIELDS
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#define X(type, name) \
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fields.push_back({static_cast<const void*>(&v.global.name), #name});
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MJVISUAL_GLOBAL_FIELDS
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#undef X
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#define X(name) \
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fields.push_back({static_cast<const void*>(&v.quality.name), #name});
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MJVISUAL_QUALITY_FIELDS
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#undef X
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#define X(type, name, dim) \
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fields.push_back({static_cast<const void*>(&v.headlight.name), #name});
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#define XVEC X
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MJVISUAL_HEADLIGHT_FIELDS
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#undef XVEC
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#undef X
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#define X(name) \
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fields.push_back({static_cast<const void*>(&v.map.name), #name});
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MJVISUAL_MAP_FIELDS
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#undef X
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#define X(name) \
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fields.push_back({static_cast<const void*>(&v.scale.name), #name});
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MJVISUAL_SCALE_FIELDS
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#undef X
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#define X(name) \
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fields.push_back({static_cast<const void*>(&v.rgba.name), #name});
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MJVISUAL_RGBA_FIELDS
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#undef X
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CheckAddressOrdering(fields, "MJVISUAL_FIELDS");
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// check that MJVISUAL_FIELDS is a complete list of fields
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struct ExpectedMjVisual {
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#define X(substruct, type, name, dim) type substruct##_##name[dim];
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MJVISUAL_FIELDS;
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struct {
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#define X(type, name) type name;
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MJVISUAL_GLOBAL_FIELDS;
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#undef X
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} global;
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struct {
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#define X(name) QualityMemberType name;
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MJVISUAL_QUALITY_FIELDS;
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#undef X
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} quality;
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struct {
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#define X(type, name, dim) type name[dim];
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#define XVEC X
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MJVISUAL_HEADLIGHT_FIELDS;
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#undef XVEC
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#undef X
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} headlight;
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struct {
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#define X(name) MapMemberType name;
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MJVISUAL_MAP_FIELDS;
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#undef X
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} map;
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struct {
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#define X(name) ScaleMemberType name;
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MJVISUAL_SCALE_FIELDS;
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#undef X
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} scale;
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struct {
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#define X(name) RgbaMemberType name;
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MJVISUAL_RGBA_FIELDS;
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#undef X
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} rgba;
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};
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static_assert(sizeof(mjVisual) == sizeof(ExpectedMjVisual));
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static_assert(alignof(mjVisual) == alignof(ExpectedMjVisual));
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static_assert(sizeof(mjVisual::global) == sizeof(ExpectedMjVisual::global));
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static_assert(alignof(mjVisual::global) == alignof(ExpectedMjVisual::global));
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static_assert(sizeof(mjVisual::quality) == sizeof(ExpectedMjVisual::quality));
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static_assert(alignof(mjVisual::quality) ==
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alignof(ExpectedMjVisual::quality));
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static_assert(sizeof(mjVisual::headlight) ==
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sizeof(ExpectedMjVisual::headlight));
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static_assert(alignof(mjVisual::headlight) ==
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alignof(ExpectedMjVisual::headlight));
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static_assert(sizeof(mjVisual::map) == sizeof(ExpectedMjVisual::map));
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static_assert(alignof(mjVisual::map) == alignof(ExpectedMjVisual::map));
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static_assert(sizeof(mjVisual::scale) == sizeof(ExpectedMjVisual::scale));
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static_assert(alignof(mjVisual::scale) == alignof(ExpectedMjVisual::scale));
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static_assert(sizeof(mjVisual::rgba) == sizeof(ExpectedMjVisual::rgba));
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static_assert(alignof(mjVisual::rgba) == alignof(ExpectedMjVisual::rgba));
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}
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TEST_F(HeaderTest, MjModelIntsOrdered) {
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