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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/fixture.h
+7 -9
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@@ -34,8 +34,7 @@
#include <mujoco/mujoco.h>
extern "C" {
MJAPI void _mjPRIVATE__set_tls_error_fn(decltype(mju_user_error));
MJAPI decltype(mju_user_error) _mjPRIVATE__get_tls_error_fn();
MJAPI mjfLogHandler _mjPRIVATE_setTlsLogHandler(mjfLogHandler handler);
}
namespace mujoco {
@@ -138,21 +137,20 @@ auto MjuErrorMessageFrom(Return (*func)(Args...)) {
thread_local std::jmp_buf current_jmp_buf;
thread_local char err_msg[1000];
auto* old_error_handler = _mjPRIVATE__get_tls_error_fn();
auto* new_error_handler = +[](const char* msg) -> void {
std::strncpy(err_msg, msg, sizeof(err_msg));
auto new_error_handler = +[](const mjLogMessage* msg) -> void {
if (msg->level != mjLOG_ERROR) return;
std::strncpy(err_msg, msg->subject, sizeof(err_msg));
std::longjmp(current_jmp_buf, 1);
};
return [func, old_error_handler,
new_error_handler](Args... args) -> std::string {
return [func, new_error_handler](Args... args) -> std::string {
auto old_handler = _mjPRIVATE_setTlsLogHandler(new_error_handler);
if (setjmp(current_jmp_buf) == 0) {
err_msg[0] = '\0';
_mjPRIVATE__set_tls_error_fn(new_error_handler);
func(args...);
}
_mjPRIVATE__set_tls_error_fn(old_error_handler);
_mjPRIVATE_setTlsLogHandler(old_handler);
return err_msg;
};
}