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Introduce new logging API, fixes #858

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PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
This commit is contained in:
Yuval Tassa
2026-06-11 14:36:17 -07:00
committed by Copybara-Service
parent a2abaf7aef
commit 58f6d52491
45 changed files with 2586 additions and 422 deletions
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test/engine/engine_sleep_test.cc
+8 -8
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@@ -185,38 +185,38 @@ TEST_F(SleepTest, MjSleepUpdate) {
mj_deleteModel(m);
}
TEST_F(SleepTest, MjWakeTree) {
TEST_F(SleepTest, MjWakeIsland) {
// one awake tree and two cycles
int asleep[] = {kAwake, 2, 1, 3};
EXPECT_EQ(mj_wakeTree(asleep, 4, 0, kAwake), 0);
EXPECT_EQ(mj_wakeIsland(asleep, 4, 0, kAwake, nullptr, 0), 0);
EXPECT_THAT(AsVector(asleep, 4), ElementsAre(kAwake, 2, 1, 3));
EXPECT_EQ(mj_wakeTree(asleep, 4, 1, kAwake), 2);
EXPECT_EQ(mj_wakeIsland(asleep, 4, 1, kAwake, nullptr, 0), 2);
EXPECT_THAT(AsVector(asleep, 4),
ElementsAre(kAwake, kAwake, kAwake, 3));
EXPECT_EQ(mj_wakeTree(asleep, 4, 3, kAwake), 1);
EXPECT_EQ(mj_wakeIsland(asleep, 4, 3, kAwake, nullptr, 0), 1);
EXPECT_THAT(AsVector(asleep, 4),
ElementsAre(kAwake, kAwake, kAwake, kAwake));
}
TEST_F(SleepTest, BadWakeTree) {
TEST_F(SleepTest, BadWakeIsland) {
EXPECT_FATAL_FAILURE(
([] {
int asleep_bad1[] = {-1, 0};
mj_wakeTree(asleep_bad1, 2, 1, kAwake);
mj_wakeIsland(asleep_bad1, 2, 1, kAwake, nullptr, 0);
}()),
"invalid sleep state index -1 when waking tree 1");
EXPECT_FATAL_FAILURE(
([] {
int asleep_bad2[] = {-1, 2};
mj_wakeTree(asleep_bad2, 2, 1, kAwake);
mj_wakeIsland(asleep_bad2, 2, 1, kAwake, nullptr, 0);
}()),
"invalid sleep state index 2 when waking tree 1");
EXPECT_FATAL_FAILURE(
([] {
int asleep_bad3[] = {1, 2, 1};
mj_wakeTree(asleep_bad3, 3, 0, kAwake);
mj_wakeIsland(asleep_bad3, 3, 0, kAwake, nullptr, 0);
}()),
"tree 0 is not in a cycle");
}