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Support directories in VFS via mj_addBufferVFS.

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PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
This commit is contained in:
Kyle Bayes
2024-07-23 13:38:28 -07:00
committed by Copybara-Service
parent 2746cb8559
commit 5ac5cfb618
18 changed files with 197 additions and 156 deletions
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src/user/user_resource.cc
+14 -7
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@@ -23,6 +23,7 @@
#include <cstdio>
#include <cstring>
#include <ctime>
#include <string>
#include <vector>
#if defined (__unix__) || (defined (__APPLE__) && defined (__MACH__))
@@ -117,8 +118,8 @@ int FileModified(const mjResource* resource, const char*timestamp) {
// open the given resource; if the name doesn't have a prefix matching with a
// resource provider, then the OS filesystem is used
mjResource* mju_openResource(const char* name, const mjVFS* vfs,
char* error, size_t nerror) {
mjResource* mju_openResource(const char* dir, const char* name,
const mjVFS* vfs, char* error, size_t nerror) {
// no error so far
if (error) {
error[0] = '\0';
@@ -136,8 +137,10 @@ mjResource* mju_openResource(const char* name, const mjVFS* vfs,
// clear out resource
memset(resource, 0, sizeof(mjResource));
// copy name
resource->name = (char*) mju_malloc(sizeof(char) * (strlen(name) + 1));
// make space for filename
std::string fullname = mjuu_combinePaths(dir, name);
std::size_t n = fullname.size();
resource->name = (char*) mju_malloc(sizeof(char) * (n + 1));
if (resource->name == nullptr) {
if (error) {
strncpy(error, "could not allocate memory", nerror);
@@ -146,10 +149,11 @@ mjResource* mju_openResource(const char* name, const mjVFS* vfs,
mju_closeResource(resource);
return nullptr;
}
memcpy(resource->name, name, sizeof(char) * (strlen(name) + 1));
// first priority is to check the VFS
if (vfs != nullptr) {
memcpy(resource->name, name,
sizeof(char) * (std::strlen(name) + 1));
const mjpResourceProvider* provider = GetVfsResourceProvider();
resource->data = (void*) vfs;
resource->provider = provider;
@@ -158,8 +162,11 @@ mjResource* mju_openResource(const char* name, const mjVFS* vfs,
}
}
// copy full path over
memcpy(resource->name, fullname.c_str(), sizeof(char) * (n + 1));
// find provider based off prefix of name
const mjpResourceProvider* provider = mjp_getResourceProvider(name);
const mjpResourceProvider* provider = mjp_getResourceProvider(resource->name);
if (provider != nullptr) {
resource->provider = provider;
resource->data = nullptr;
@@ -170,7 +177,7 @@ mjResource* mju_openResource(const char* name, const mjVFS* vfs,
if (error) {
snprintf(error, nerror, "could not open '%s'"
"using a resource provider matching prefix '%s'",
name, provider->prefix);
resource->name, provider->prefix);
}
mju_closeResource(resource);