chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Re-implement VFS internals in C++, removing the constraints of the previous implementation.

Browse Source 
PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
This commit is contained in:
Kyle Bayes
2024-07-04 09:21:18 -07:00
committed by Copybara-Service
parent 118b6810b3
commit 57e6760ec9
19 changed files with 513 additions and 717 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_util_misc_test.cc
-86
View File
@@ -148,92 +148,6 @@ TEST_F(MujocoTest, MuscleGainLength) {
EXPECT_EQ(mju_muscleGainLength(2.0, lmin, lmax), 0);
}
TEST_F(MujocoTest, mju_makefullname) {
char buffer[1000];
constexpr char path[] = "engine/testdata/";
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
ASSERT_THAT(buffer, StrEq("engine/testdata/file"));
EXPECT_THAT(n, 0);
}
TEST_F(MujocoTest, mju_makefullname2) {
char buffer[1000];
constexpr char path[] = "engine\\testdata\\";
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
ASSERT_THAT(buffer, StrEq("engine\\testdata\\file"));
EXPECT_THAT(n, 0);
}
TEST_F(MujocoTest, mju_makefullname_missingSlash) {
char buffer[1000];
constexpr char path[] = "engine/testdata";
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
ASSERT_THAT(buffer, StrEq("engine/testdata/file"));
EXPECT_THAT(n, 0);
}
TEST_F(MujocoTest, mju_makefullname_withoutDir) {
char buffer[1000];
constexpr char *path = NULL;
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
ASSERT_THAT(buffer, StrEq("file"));
EXPECT_THAT(n, 0);
}
TEST_F(MujocoTest, mju_makefullname_withoutDir2) {
char buffer[1000];
constexpr char path[] = "";
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
ASSERT_THAT(buffer, StrEq("file"));
EXPECT_THAT(n, 0);
}
TEST_F(MujocoTest, mju_makefullname_error) {
char buffer[1000];
constexpr char path[] = "engine/testdata";
constexpr char *file = NULL;
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
EXPECT_THAT(n, Ne(0));
}
TEST_F(MujocoTest, mju_makefullname_error2) {
char buffer[1000];
constexpr char path[] = "engine/testdata";
constexpr char file[] = "";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
EXPECT_THAT(n, Ne(0));
}
TEST_F(MujocoTest, mju_makefullname_error3) {
char buffer[20];
constexpr char path[] = "engine/testdata/";
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
EXPECT_THAT(n, Ne(0));
}
TEST_F(MujocoTest, mju_makefullname_error4) {
char buffer[20];
constexpr char path[] = "engine/testdata";
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
EXPECT_THAT(n, Ne(0));
}
TEST_F(MujocoTest, mju_makefullname_error5) {
char buffer[4];
constexpr char path[] = "";
constexpr char file[] = "file";
int n = mju_makefullname(buffer, sizeof(buffer), path, file);
EXPECT_THAT(n, Ne(0));
}
// --------------------------------- Base64 ------------------------------------
using Base64Test = MujocoTest;
test/user/user_vfs_test.cc
+151 -40
View File
@@ -14,7 +14,6 @@
#include <array>
#include <cstdio>
#include <memory>
#include <string>
#include <gmock/gmock.h>
@@ -28,9 +27,16 @@ namespace mujoco {
namespace {
using ::testing::NotNull;
using EngineVfsTest = MujocoTest;
using UserVfsTest = MujocoTest;
TEST_F(EngineVfsTest, AddFile) {
static bool HasFile(const mjVFS* vfs, const std::string& filename) {
mjResource* resource = mju_openVfsResource(filename.c_str(), vfs);
bool result = resource != nullptr;
mju_closeResource(resource);
return result;
}
TEST_F(UserVfsTest, AddFile) {
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file1 = "activation.xml";
@@ -49,54 +55,159 @@ TEST_F(EngineVfsTest, AddFile) {
ASSERT_THAT(fp3, NotNull()) << "Input file3 missing.";
std::fclose(fp3);
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mjVFS vfs;
mj_defaultVFS(&vfs);
EXPECT_FALSE(HasFile(&vfs, file1));
EXPECT_THAT(mj_addFileVFS(&vfs, dir.c_str(), file1.c_str()), 0);
EXPECT_TRUE(HasFile(&vfs, file1));
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, dir.c_str(), file2.c_str()), 0);
EXPECT_TRUE(HasFile(&vfs, file1));
EXPECT_TRUE(HasFile(&vfs, file2));
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, dir.c_str(), file3.c_str()), 0);
EXPECT_TRUE(HasFile(&vfs, file1.c_str()));
EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
EXPECT_TRUE(HasFile(&vfs, file3.c_str()));
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, file1.c_str());
EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
EXPECT_TRUE(HasFile(&vfs, file3.c_str()));
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, file3.c_str());
EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
EXPECT_FALSE(HasFile(&vfs, file3.c_str()));
mj_deleteFileVFS(vfs.get(), file2.c_str());
EXPECT_THAT(vfs->nfile, 0);
mj_deleteFileVFS(&vfs, file2.c_str());
EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
EXPECT_FALSE(HasFile(&vfs, file2.c_str()));
EXPECT_FALSE(HasFile(&vfs, file3.c_str()));
mj_deleteVFS(vfs.get());
mj_deleteVFS(&vfs);
}
TEST_F(EngineVfsTest, AddBuffer) {
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
TEST_F(UserVfsTest, AddFileStripPath) {
mjVFS vfs;
mj_defaultVFS(&vfs);
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file1 = "activation.xml";
mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
EXPECT_TRUE(HasFile(&vfs, file1));
EXPECT_TRUE(HasFile(&vfs, dir + file1));
EXPECT_TRUE(HasFile(&vfs, "some/dir/" + file1));
EXPECT_TRUE(HasFile(&vfs, "some/dir\\" + file1));
mj_deleteVFS(&vfs);
}
TEST_F(UserVfsTest, AddFileRepeat) {
mjVFS vfs;
mj_defaultVFS(&vfs);
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file1 = "activation.xml";
mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
EXPECT_TRUE(HasFile(&vfs, file1));
EXPECT_THAT(mj_addFileVFS(&vfs, "dir/", file1.c_str()), 2);
mj_deleteVFS(&vfs);
}
TEST_F(UserVfsTest, DeleteFile) {
mjVFS vfs;
mj_defaultVFS(&vfs);
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file1 = "activation.xml";
mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
EXPECT_TRUE(HasFile(&vfs, file1));
EXPECT_THAT(mj_deleteFileVFS(&vfs, file1.c_str()), 0);
EXPECT_FALSE(HasFile(&vfs, file1));
mj_deleteVFS(&vfs);
}
TEST_F(UserVfsTest, DeleteFileStripPath) {
mjVFS vfs;
mj_defaultVFS(&vfs);
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file = "activation.xml";
std::string fileUpper = "Activation.xml";
mj_addFileVFS(&vfs, dir.c_str(), file.c_str());
EXPECT_TRUE(HasFile(&vfs, file));
EXPECT_THAT(mj_deleteFileVFS(&vfs, ("dir\\" + fileUpper).c_str()), 0);
EXPECT_FALSE(HasFile(&vfs, file));
mj_deleteVFS(&vfs);
}
TEST_F(UserVfsTest, DeleteFileRepeat) {
mjVFS vfs;
mj_defaultVFS(&vfs);
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file = "activation.xml";
mj_addFileVFS(&vfs, dir.c_str(), file.c_str());
EXPECT_TRUE(HasFile(&vfs, file));
EXPECT_THAT(mj_deleteFileVFS(&vfs, file.c_str()), 0);
EXPECT_FALSE(HasFile(&vfs, file));
EXPECT_THAT(mj_deleteFileVFS(&vfs, file.c_str()), -1);
mj_deleteVFS(&vfs);
}
TEST_F(UserVfsTest, AddBuffer) {
mjVFS vfs;
mj_defaultVFS(&vfs);
std::string buffer = "<mujoco/>";
mj_addBufferVFS(vfs.get(), "model", static_cast<const void*>(buffer.c_str()),
mj_addBufferVFS(&vfs, "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());
mjModel* model = mj_loadXML("model", &vfs, error.data(), error.size());
EXPECT_THAT(model, NotNull());
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
mj_deleteVFS(&vfs);
}
TEST_F(EngineVfsTest, Timestamps) {
TEST_F(UserVfsTest, AddBufferRepeat) {
mjVFS vfs;
mj_defaultVFS(&vfs);
std::string buffer = "<mujoco/>";
const void* ptr = static_cast<const void*>(buffer.c_str());
mj_addBufferVFS(&vfs, "model", ptr, buffer.size());
int result = mj_addBufferVFS(&vfs, "model", ptr, buffer.size());
EXPECT_EQ(result, 2);
mj_deleteVFS(&vfs);
}
TEST_F(UserVfsTest, BufferStripPath) {
mjVFS vfs;
mj_defaultVFS(&vfs);
std::string buffer = "<mujoco/>";
const void* ptr = static_cast<const void*>(buffer.c_str());
mj_addBufferVFS(&vfs, "dir/model", ptr, buffer.size());
EXPECT_TRUE(HasFile(&vfs, "MODEL"));
EXPECT_TRUE(HasFile(&vfs, "dir\\model"));
mj_deleteVFS(&vfs);
}
TEST_F(UserVfsTest, Timestamps) {
static constexpr char cube[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
@@ -107,11 +218,11 @@ TEST_F(EngineVfsTest, Timestamps) {
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));
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "cube.obj", cube, sizeof(cube));
mjResource* resource = mju_openVfsResource("cube.obj", vfs.get());
mjResource* resource = mju_openVfsResource("cube.obj", &vfs);
// same timestamps
EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
@@ -120,7 +231,7 @@ TEST_F(EngineVfsTest, Timestamps) {
EXPECT_EQ(mju_isModifiedResource(resource, "QQ=="), 1);
mju_closeResource(resource);
mj_deleteVFS(vfs.get());
mj_deleteVFS(&vfs);
}
} // namespace