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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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test/xml/xml_native_reader_test.cc
+67 -59
View File
@@ -15,7 +15,6 @@
// Tests for xml/xml_native_reader.cc.
#include <array>
#include <cstring>
#include <limits>
#include <memory>
#include <string>
@@ -613,6 +612,18 @@ static constexpr unsigned char kTinyPng[] = {
0x82
};
// mesh OBJ file of a cube
static constexpr char kTinyObj[] = R"(
v -1 -1 1
v 1 -1 1
v -1 1 1
v 1 1 1
v -1 1 -1
v 1 1 -1
v -1 -1 -1
v 1 -1 -1)";
TEST_F(XMLReaderTest, IncludeTest) {
static constexpr char xml[] = R"(
<mujoco>
@@ -726,24 +737,22 @@ TEST_F(XMLReaderTest, IncludePathTest) {
<geom name="another_box" type="box" size="2 2 2"/>
</mujoco>)";
MockFilesystem fs("IncludePathTest");
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
fs.ChangeDirectory("submodels/");
fs.AddFile("model1.xml", (const unsigned char*) xml1, sizeof(xml1));
fs.AddFile("model2.xml", (const unsigned char*) xml2, sizeof(xml2));
fs.AddFile("subsubmodels/model3.xml", (const unsigned char*) xml3,
sizeof(xml3));
fs.ChangeDirectory("/");
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
mj_addBufferVFS(&vfs, "submodels/model1.xml", xml1, sizeof(xml1));
mj_addBufferVFS(&vfs, "submodels/model2.xml", xml2, sizeof(xml2));
mj_addBufferVFS(&vfs, "submodels/subsubmodels/model3.xml", xml3,
sizeof(xml3));
std::array<char, 1024> error;
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr, error.data(),
mjModel* model = mj_loadXML("model.xml", &vfs, error.data(),
error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, FallbackIncludePathTest) {
@@ -772,22 +781,21 @@ TEST_F(XMLReaderTest, FallbackIncludePathTest) {
<geom name="another_box" type="box" size="2 2 2"/>
</mujoco>)";
MockFilesystem fs("FallbackIncludePathTest");
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
fs.AddFile("model1.xml", (const unsigned char*) xml1, sizeof(xml1));
fs.AddFile("submodels/model2.xml", (const unsigned char*) xml2, sizeof(xml2));
fs.AddFile("subsubmodels/model3.xml", (const unsigned char*) xml3,
sizeof(xml3));
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
mj_addBufferVFS(&vfs, "model1.xml", xml1, sizeof(xml1));
mj_addBufferVFS(&vfs, "submodels/model2.xml", xml2, sizeof(xml2));
mj_addBufferVFS(&vfs, "subsubmodels/model3.xml", xml3, sizeof(xml3));
std::array<char, 1024> error;
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
mjModel* model = mj_loadXML("model.xml", &vfs,
error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, MaterialTextureTest) {
@@ -809,14 +817,14 @@ TEST_F(XMLReaderTest, MaterialTextureTest) {
</mujoco>
)";
MockFilesystem fs("MaterialTextureTest");
fs.AddFile("tiny0.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("tiny1.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "tiny0.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "tiny1.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
char error[1024];
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr, error, 1024);
mjModel* model = mj_loadXML("model.xml", &vfs, error, 1024);
EXPECT_THAT(model, NotNull()) << error;
EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
@@ -825,6 +833,7 @@ TEST_F(XMLReaderTest, MaterialTextureTest) {
EXPECT_EQ(model->mat_texid[mjTEXROLE_OCCLUSION], 0);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, LegacyMaterialTextureTest) {
@@ -841,19 +850,20 @@ TEST_F(XMLReaderTest, LegacyMaterialTextureTest) {
</mujoco>
)";
MockFilesystem fs("LegacyMaterialTextureTest");
fs.AddFile("tiny0.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("tiny1.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "tiny0.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "tiny1.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
char error[1024];
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr, error, 1024);
mjModel* model = mj_loadXML("model.xml", &vfs, error, 1024);
EXPECT_THAT(model, NotNull()) << error;
EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, MaterialTextureFailTest) {
@@ -873,12 +883,6 @@ TEST_F(XMLReaderTest, MaterialTextureFailTest) {
</mujoco>
)";
MockFilesystem fs("MaterialTextureFailTest");
fs.AddFile("tiny0.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("tiny1.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
@@ -907,28 +911,32 @@ TEST_F(XMLReaderTest, IncludeAssetsTest) {
static constexpr char subassets[] = R"(
<mujoco>
<texture file="subtiny.png" type="2d"/>
<mesh name="cube" file="cube.obj"/>
<material name="submaterial" texture="subtiny"/>
</mujoco>
)";
MockFilesystem fs("IncludeAssetsTest");
fs.AddFile("assets/tiny.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("assets/subassets/subtiny.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("assets/assets.xml", (const unsigned char*) assets,
sizeof(assets));
fs.AddFile("assets/subassets/assets.xml", (const unsigned char*) subassets,
sizeof(subassets));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "assets/tiny.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "assets/subassets/subtiny.png", kTinyPng,
sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "assets/subassets/cube.obj", kTinyObj,
sizeof(kTinyObj));
mj_addBufferVFS(&vfs, "assets/assets.xml", assets, sizeof(assets));
mj_addBufferVFS(&vfs, "assets/subassets/assets.xml", subassets,
sizeof(subassets));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
// loading the file should be successful
std::array<char, 1024> error;
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr, error.data(),
mjModel* model = mj_loadXML("model.xml", &vfs, error.data(),
error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, FallbackIncludeAssetsTest) {
@@ -956,26 +964,26 @@ TEST_F(XMLReaderTest, FallbackIncludeAssetsTest) {
</mujoco>
)";
MockFilesystem fs("FallbackIncludeAssetsTest");
fs.AddFile("assets/tiny.png", kTinyPng, sizeof(kTinyPng));
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "assets/tiny.png", kTinyPng, sizeof(kTinyPng));
// need to fallback for backwards compatibility
fs.AddFile("subtiny.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "subtiny.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("assets/assets.xml", (const unsigned char*) assets,
sizeof(assets));
fs.AddFile("assets/subassets/assets.xml", (const unsigned char*) subassets,
sizeof(subassets));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
mj_addBufferVFS(&vfs, "assets/assets.xml", assets, sizeof(assets));
mj_addBufferVFS(&vfs, "assets/subassets/assets.xml", subassets,
sizeof(subassets));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
// loading the file should be successful
std::array<char, 1024> error;
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
mjModel* model = mj_loadXML("model.xml", &vfs,
error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, IncludeAbsoluteTest) {