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Add various improvements for resource providers.

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PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
This commit is contained in:
Kyle Bayes
2023-05-05 07:02:51 -07:00
committed by Copybara-Service
parent b798f89212
commit 67f0f5154f
23 changed files with 576 additions and 193 deletions
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test/engine/engine_resource_test.cc
+128 -36
View File
@@ -24,6 +24,7 @@
#include <mujoco/mujoco.h>
#include "src/engine/engine_plugin.h"
#include "src/engine/engine_resource.h"
#include "src/engine/engine_vfs.h"
#include "test/fixture.h"
namespace mujoco {
@@ -41,7 +42,7 @@ int open_nop(mjResource* resource) {
}
int open_str(mjResource* resource) {
if (std::strcmp(resource->name, "str://file")) {
if (std::strcmp(resource->name, "str:file")) {
return 0;
}
@@ -67,7 +68,7 @@ void close_str(mjResource* resource) {
}
TEST_F(ResourceTest, RegisterProviderSuccess) {
mjpResourceProvider provider = {"myprefix", open_nop, read_nop, close_nop,
mjpResourceProvider provider = {"my-prefix.123+45", open_nop, read_nop, close_nop,
nullptr};
int count1 = mjp_resourceProviderCount();
@@ -97,7 +98,7 @@ TEST_F(ResourceTest, RegisterProviderMissingCallbacks) {
}
TEST_F(ResourceTest, RegisterProviderMissingPrefix) {
mjpResourceProvider provider = {"", open_nop, read_nop, close_nop, nullptr};
mjpResourceProvider provider = {"", open_nop, read_nop, close_nop, nullptr, nullptr};
// install warning handler
static char warning[1024];
@@ -113,12 +114,8 @@ TEST_F(ResourceTest, RegisterProviderMissingPrefix) {
EXPECT_LT(i, 1);
}
TEST_F(ResourceTest, RegisterProviderSubPrefix) {
mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
nullptr};
mjpResourceProvider provider2 = {"pre", open_nop, read_nop, close_nop,
nullptr};
TEST_F(ResourceTest, RegisterProviderInvalidPrefix1) {
mjpResourceProvider provider = {"1invalid", open_nop, read_nop, close_nop, nullptr, nullptr};
// install warning handler
static char warning[1024];
@@ -128,21 +125,14 @@ TEST_F(ResourceTest, RegisterProviderSubPrefix) {
};
int i = mjp_registerResourceProvider(&provider);
int j = mjp_registerResourceProvider(&provider2);
// warning message related to an error
EXPECT_THAT(warning, HasSubstr("cannot be register"));
EXPECT_GT(i, 0);
EXPECT_LT(j, 1);
// warning message related to missing prefix
EXPECT_THAT(warning, HasSubstr("prefix"));
EXPECT_LT(i, 1);
}
TEST_F(ResourceTest, RegisterProviderSuperPrefix) {
mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
nullptr};
mjpResourceProvider provider2 = {"prefix2", open_nop, read_nop, close_nop,
nullptr};
TEST_F(ResourceTest, RegisterProviderInvalidPrefix2) {
mjpResourceProvider provider = {"invalid:", open_nop, read_nop, close_nop, nullptr, nullptr};
// install warning handler
static char warning[1024];
@@ -152,21 +142,18 @@ TEST_F(ResourceTest, RegisterProviderSuperPrefix) {
};
int i = mjp_registerResourceProvider(&provider);
int j = mjp_registerResourceProvider(&provider2);
// warning message related to an error
EXPECT_THAT(warning, HasSubstr("cannot be register"));
EXPECT_GT(i, 0);
EXPECT_LT(j, 1);
// warning message related to missing prefix
EXPECT_THAT(warning, HasSubstr("prefix"));
EXPECT_LT(i, 1);
}
TEST_F(ResourceTest, RegisterProviderSame) {
mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
nullptr};
nullptr, nullptr};
mjpResourceProvider provider2 = {"prefix", open_nop, read_nop, close_nop,
nullptr};
nullptr, nullptr};
int i1 = mjp_registerResourceProvider(&provider);
int count1 = mjp_resourceProviderCount();
@@ -176,19 +163,35 @@ TEST_F(ResourceTest, RegisterProviderSame) {
EXPECT_EQ(i1, i2);
EXPECT_EQ(count1, count2);
}
TEST_F(ResourceTest, RegisterProviderSameCase) {
mjpResourceProvider provider = {"prefix", open_nop, read_nop, close_nop,
nullptr, nullptr};
mjpResourceProvider provider2 = {"PREFIX", open_nop, read_nop, close_nop,
nullptr, nullptr};
int i1 = mjp_registerResourceProvider(&provider);
int count1 = mjp_resourceProviderCount();
int i2 = mjp_registerResourceProvider(&provider2);
int count2 = mjp_resourceProviderCount();
EXPECT_EQ(i1, i2);
EXPECT_EQ(count1, count2);
}
TEST_F(ResourceTest, GeneralTest) {
mjpResourceProvider provider = {"str://", open_str, read_str, close_str,
nullptr};
mjpResourceProvider provider = {"str", open_str, read_str, close_str,
nullptr, nullptr};
// register resource provider
int i = mjp_registerResourceProvider(&provider);
EXPECT_GT(i, 0);
// open resource
mjResource* resource = mju_openResource("str://file", 0);
mjResource* resource = mju_openResource("str:file", 0);
ASSERT_THAT(resource, NotNull());
const char* buffer = NULL;
@@ -200,8 +203,8 @@ TEST_F(ResourceTest, GeneralTest) {
}
TEST_F(ResourceTest, GeneralTestFailure) {
mjpResourceProvider provider = {"str://", open_str, read_str, close_str,
nullptr};
mjpResourceProvider provider = {"str", open_str, read_str, close_str,
nullptr, nullptr};
// register resource provider
int i = mjp_registerResourceProvider(&provider);
@@ -216,11 +219,100 @@ TEST_F(ResourceTest, GeneralTestFailure) {
};
// open resource
mjResource* resource = mju_openResource("str://notfound", 0);
ASSERT_THAT(resource, IsNull());
mjResource* resource = mju_openResource("str:notfound", 0);
ASSERT_THAT(resource, IsNull());
EXPECT_THAT(warning, HasSubstr("could not open"));
}
TEST_F(ResourceTest, NameWithValidPrefix) {
mjpResourceProvider provider = {"nop", open_nop, read_nop, close_nop,
nullptr, nullptr};
// register resource provider
int i = mjp_registerResourceProvider(&provider);
EXPECT_GT(i, 0);
// install warning handler
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
// open resource
mjResource* resource = mju_openResource("nop:found", 0);
ASSERT_THAT(resource, NotNull());
mju_closeResource(resource);
}
TEST_F(ResourceTest, NameWithUpperCasePrefix) {
mjpResourceProvider provider = {"nop", open_nop, read_nop, close_nop,
nullptr, nullptr};
// register resource provider
int i = mjp_registerResourceProvider(&provider);
EXPECT_GT(i, 0);
// install warning handler
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
// open resource
mjResource* resource = mju_openResource("NOP:found", 0);
ASSERT_THAT(resource, NotNull());
mju_closeResource(resource);
}
TEST_F(ResourceTest, NameWithInvalidPrefix) {
mjpResourceProvider provider = {"nop", open_nop, read_nop, close_nop,
nullptr, nullptr};
// register resource provider
int i = mjp_registerResourceProvider(&provider);
EXPECT_GT(i, 0);
// install warning handler
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
// open resource
mjResource* resource = mju_openResource("nopfound", 0);
ASSERT_THAT(resource, IsNull());
}
TEST_F(ResourceTest, VFSProvider) {
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_makeEmptyFileVFS(vfs.get(), "file", 1);
// register resource provider
int i = mj_registerVfsProvider(vfs.get());
EXPECT_GT(i, 0);
// install warning handler
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
// open resource
mjResource* resource = mju_openResource("vfs:file", 0);
ASSERT_THAT(resource, IsNull());
mj_deleteFileVFS(vfs.get(), "file");
}
} // namespace
} // namespace mujoco