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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/fixture.cc
+13 -35
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@@ -68,48 +68,26 @@ const std::string GetModelPath(std::string_view path) {
return absl::StrCat("../model/", path);
}
int datastr_length(mjResource* resource) {
int len = strlen(resource->name)-1;
// string should have the format "S(data).ext"
for (; len > 2; len--) {
if (resource->name[len] == ')') {
return len - 2;
}
}
return -1;
}
int str_open_callback(mjResource* resource) {
if (datastr_length(resource) < 0) {
return 0;
}
resource->data = resource->name+2;
return 1;
}
int str_read_callback(mjResource* resource, const void** buffer) {
*buffer = resource->data;
return datastr_length(resource);
}
void str_close_callback(mjResource* resource) {
}
mjModel* LoadModelFromString(std::string_view xml, char* error,
int error_size, mjVFS* vfs) {
// register string resource provider if not registered before
if (mjp_getResourceProvider("S(") == nullptr) {
if (mjp_getResourceProvider("LoadModelFromString:") == nullptr) {
mjpResourceProvider resourceProvider;
resourceProvider.prefix = "S(";
resourceProvider.open = str_open_callback;
resourceProvider.read = str_read_callback;
resourceProvider.close = str_close_callback;
mjp_defaultResourceProvider(&resourceProvider);
resourceProvider.prefix = "LoadModelFromString";
resourceProvider.open = +[](mjResource* resource) {
resource->data = &(resource->name[strlen("LoadModelFromString:")]);
return 1;
};
resourceProvider.read = +[](mjResource* resource, const void** buffer) {
*buffer = resource->data;
return (int) strlen((const char*) resource->data);
};
resourceProvider.close = +[](mjResource* resource) {};
mjp_registerResourceProvider(&resourceProvider);
}
std::string xml2 = {xml.begin(), xml.end()};
std::string str = "S(" + xml2 + ")";
std::string str = "LoadModelFromString:" + xml2;
return mj_loadXML(str.c_str(), vfs, error, error_size);
}