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Modify signature of plugin reset callback.

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The `reset` function is called inside `mj_resetData`, before any physics forwarding call has been made. It is therefore an error to read anything from mjData at this stage.

The only valid operation on mjData during `reset` is for a plugin to write into its own state variable slots and data struct. We modify the function signature to only provide access to these.

PiperOrigin-RevId: 495032492
Change-Id: Ic6d2967d2571a9083cbca1ba239ca70a8a51f474
This commit is contained in:
Saran Tunyasuvunakool
2022-12-13 08:40:59 -08:00
committed by Copybara-Service
parent 2e6af64b31
commit 5c021d042b
4 changed files with 13 additions and 9 deletions
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doc/includes/references.h
+1 -1
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@@ -1179,7 +1179,7 @@ struct mjpPlugin_ {
void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance); void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
// called when an mjData is being reset (required) // called when an mjData is being reset (required)
void (*reset)(const mjModel* m, mjData* d, int instance); void (*reset)(const mjModel* m, double* plugin_state, void* plugin_data, int instance);
// called when the plugin needs to update its outputs (required) // called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit); void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
include/mujoco/mjplugin.h
+1 -1
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@@ -52,7 +52,7 @@ struct mjpPlugin_ {
void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance); void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
// called when an mjData is being reset (required) // called when an mjData is being reset (required)
void (*reset)(const mjModel* m, mjData* d, int instance); void (*reset)(const mjModel* m, double* plugin_state, void* plugin_data, int instance);
// called when the plugin needs to update its outputs (required) // called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit); void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
src/engine/engine_io.c
+2 -1
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@@ -1149,7 +1149,8 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->plugin[i] = m->plugin[i]; d->plugin[i] = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]); const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
if (plugin->reset) { if (plugin->reset) {
plugin->reset(m, d, i); plugin->reset(m, &d->plugin_state[m->plugin_stateadr[i]],
(void*)(d->plugin_data[i]), i);
} }
} }
} }
test/engine/engine_plugin_test.cc
+9 -6
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@@ -224,8 +224,9 @@ int RegisterSensorPlugin() {
TestSensor::DestroyCount()++; TestSensor::DestroyCount()++;
}; };
plugin.reset = +[](const mjModel* m, mjData* d, int instance) { plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data,
auto sensor = reinterpret_cast<TestSensor*>(d->plugin_data[instance]); int instance) {
auto sensor = reinterpret_cast<TestSensor*>(plugin_data);
sensor->Reset(); sensor->Reset();
}; };
plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) { plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
@@ -266,8 +267,9 @@ int RegisterActuatorPlugin() {
TestActuator::DestroyCount()++; TestActuator::DestroyCount()++;
}; };
plugin.reset = +[](const mjModel* m, mjData* d, int instance) { plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data,
auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]); int instance) {
auto actuator = reinterpret_cast<TestActuator*>(plugin_data);
actuator->Reset(); actuator->Reset();
}; };
plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) { plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
@@ -306,8 +308,9 @@ int RegisterPassivePlugin() {
d->plugin_data[instance] = 0; d->plugin_data[instance] = 0;
}; };
plugin.reset = +[](const mjModel* m, mjData* d, int instance) { plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data,
auto passive = reinterpret_cast<TestPassive*>(d->plugin_data[instance]); int instance) {
auto passive = reinterpret_cast<TestPassive*>(plugin_data);
passive->Reset(); passive->Reset();
}; };
plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) { plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {