Split large parameterized tests into dedicated files.

PiperOrigin-RevId: 927159897 Change-Id: Ib0e11727c49195bc03d190b736c01b14c10268fe
2026-06-05 02:07:09 -07:00
parent 8fbacf2883
commit 5ce9a0ad0b
6 changed files with 352 additions and 266 deletions
@@ -0,0 +1,187 @@
+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Tests for loading and saving multiple files.
+
+#include <algorithm>
+#include <array>
+#include <cctype>
+#include <cstddef>
+#include <filesystem>  // NOLINT(build/c++17)
+#include <string>
+#include <vector>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/strings/match.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "src/xml/xml_numeric_format.h"
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using ::testing::NotNull;
+using XMLWriterTest = MujocoTest;
+
+std::vector<std::string> GetWriteReadTestModels() {
+  std::vector<std::string> models;
+  std::string ext(".xml");
+  for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
+    for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
+      if (p.path().extension() == ext) {
+        std::string xml = p.path().string();
+        if (  // if file is meant to fail, skip it
+              absl::StrContains(xml, "malformed_") ||
+              absl::StrContains(xml, "_fail") ||
+              // exclude files that are too slow to load
+              absl::StrContains(xml, "cow") ||
+              absl::StrContains(xml, "gmsh_") ||
+              absl::StrContains(xml, "shark_") ||
+              absl::StrContains(xml, "perf") ||
+              // exclude files that fail the comparison test
+              absl::StrContains(xml, "rfcamera") ||
+              absl::StrContains(xml, "tactile") ||
+              absl::StrContains(xml, "makemesh") ||
+              absl::StrContains(xml, "many_dependencies") ||
+              absl::StrContains(xml, "usd") ||
+              absl::StrContains(xml, "torus_maxhull") ||
+              absl::StrContains(xml, "fitmesh_") ||
+              absl::StrContains(xml, "lengthrange") ||
+              absl::StrContains(xml, "hfield_xml") ||
+              absl::StrContains(xml, "fromto_convex") ||
+              absl::StrContains(xml, "cube_skin") ||
+              absl::StrContains(xml, "cube_3x3x3") ||
+              // exclude files that fail since we do not save pinned flex nodes
+              absl::StrContains(xml, "gripper_trilinear") ||
+              absl::StrContains(xml, "strain")) {
+          continue;
+        }
+        models.push_back(xml);
+      }
+    }
+  }
+  return models;
+}
+
+class WriteReadCompareTest : public XMLWriterTest,
+                             public ::testing::WithParamInterface<std::string> {
+ public:
+};
+TEST_P(WriteReadCompareTest, WriteReadCompare) {
+  std::string xml = GetParam();
+
+  // full precision float printing
+  FullFloatPrecision increase_precision;
+
+  // load model
+  std::array<char, 1000> error;
+  mjSpec* s =
+      mj_parseXML(xml.c_str(), nullptr, error.data(), error.size());
+  if (!s) {
+    GTEST_SKIP() << "Failed to load " << xml.c_str() << ": " << error.data();
+  }
+
+  mjModel* m = mj_compile(s, nullptr);
+  if (!m) {
+    mj_deleteSpec(s);
+    GTEST_SKIP() << "Failed to compile " << xml.c_str() << ": " << error.data();
+  }
+
+  // make data
+  mjData* d = mj_makeData(m);
+  ASSERT_THAT(d, testing::NotNull()) << "Failed to create data\n";
+
+  // save and load back
+  auto abs_path = std::filesystem::path(xml);
+  mjSpec* stemp = mj_parseXMLString(SaveAndReadXml(s).c_str(), 0, error.data(),
+                                    error.size());
+  ASSERT_THAT(stemp, NotNull())
+      << "Failed to load " << xml.c_str() << ": " << error.data();
+  mjs_setString(stemp->modelfiledir,
+                abs_path.remove_filename().string().c_str());
+  mjModel* mtemp = mj_compile(stemp, nullptr);
+
+  ASSERT_THAT(mtemp, NotNull()) << error.data() << " from " << xml.c_str();
+
+  mjtNum tol = 0;
+
+  // for particularly sensitive models, relax the tolerance
+  if (absl::StrContains(xml, "belt.xml") ||
+      absl::StrContains(xml, "cable.xml")) {
+    tol = 1e-13;
+  }
+
+  // compare and delete
+  std::string field = "";
+  mjtNum result = CompareModel(m, mtemp, field);
+  EXPECT_LE(result, tol) << "Loaded and saved models are different!\n"
+                         << "Affected file " << xml << '\n'
+                         << "Different field: " << field << '\n';
+  mj_deleteModel(mtemp);
+
+  // check for stack memory leak
+  mj_step(m, d);
+  EXPECT_EQ(d->pstack, 0) << "mjData stack memory leak detected in " <<
+      xml << '\n';
+
+  // delete data
+  mj_deleteData(d);
+
+  // allocate buffer, save m into it
+  size_t sz = mj_sizeModel(m);
+  void* buffer = mju_malloc(sz);
+  mj_saveModel(m, nullptr, buffer, sz);
+
+  // make new VFS add buffer to it
+  mjVFS* vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
+  mj_defaultVFS(vfs);
+  int failed = mj_addBufferVFS(vfs, "model.mjb", buffer, sz);
+  EXPECT_EQ(failed, 0) << "Failed to add buffer to VFS";
+
+  // load model from VFS
+  mtemp = mj_loadModel("model.mjb", vfs);
+  ASSERT_THAT(mtemp, NotNull());
+
+  // compare with 0 tolerance
+  field = "";
+  result = CompareModel(m, mtemp, field);
+  EXPECT_EQ(result, 0) << "Loaded and saved binary models are different!\n"
+                       << "Affected file " << xml << '\n'
+                       << "Different field: " << field << '\n';
+
+  // clean up
+  mj_deleteSpec(s);
+  mj_deleteSpec(stemp);
+  mj_deleteModel(m);
+  mj_deleteModel(mtemp);
+  mj_deleteVFS(vfs);
+  mju_free(vfs);
+  mju_free(buffer);
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    AllModels, WriteReadCompareTest,
+    ::testing::ValuesIn(GetWriteReadTestModels()),
+    [](const ::testing::TestParamInfo<std::string>& info) {
+      std::string name = std::filesystem::path(info.param).filename().string();
+      std::replace_if(
+          name.begin(), name.end(),
+          [](char c) { return !std::isalnum(c); }, '_');
+      return name + "_" + std::to_string(info.index);
+    });
+
+}  // namespace
+}  // namespace mujoco