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Make mju_getXMLDependencies read XMLs through the resource provider.

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The function called tinyxml2's LoadFile directly, which only works on
the OS file system. Reading through mju_openResource lets it work
against any registered backend (VFS, HTTP, github:, ...).
This commit is contained in:
Kevin Zakka
2026-05-26 15:05:54 -07:00
parent 583aa5ad4f
commit 6f9725a1da
2 changed files with 98 additions and 24 deletions
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src/xml/xml_util.cc
+36 -24
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@@ -222,34 +222,46 @@ void mjCopyError(char* dst, const char* src, int maxlen) {
}
void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies) {
// load XML file or parse string
tinyxml2::XMLDocument doc;
doc.LoadFile(filename);
// error checking
if (doc.Error()) {
mju_error("Problem reading XML file '%s': %s", filename, doc.ErrorStr());
// Open through the resource provider so the function works against any
// registered backend (OS file system, VFS, HTTP, "github:", ...) rather
// than only the OS file system.
mjResource* resource = mju_openResource("", filename, nullptr, nullptr, 0);
if (resource == nullptr) {
mju_error("Could not open '%s'", filename);
}
// get top-level element
tinyxml2::XMLElement *root = doc.RootElement();
if (!root) {
mju_error("XML root element not found");
}
std::unordered_set<std::string> files = {filename};
std::optional<FilePath> model_dir = std::nullopt;
mjResource *resource = mju_openResource("", filename, nullptr,
nullptr, 0);
if (resource != nullptr) {
const char* dir;
int ndir;
mju_getResourceDir(resource, &dir, &ndir);
model_dir = FilePath(std::string(dir, ndir));
// Read the XML bytes from the resource.
const void* buffer = nullptr;
int size = mju_readResource(resource, &buffer);
if (size < 0 || !size) {
mju_closeResource(resource);
mju_error("Could not read '%s'", filename);
}
// Get file references from include and model tags.
AccumulateFiles(files, root, model_dir.value());
// Capture the model directory while the resource is still open.
const char* dir = nullptr;
int ndir = 0;
mju_getResourceDir(resource, &dir, &ndir);
FilePath model_dir(std::string(dir, ndir));
// Parse from buffer and close (the parsed DOM is independent of the
// resource buffer once Parse returns).
tinyxml2::XMLDocument doc;
tinyxml2::XMLError err =
doc.Parse(static_cast<const char*>(buffer), static_cast<size_t>(size));
mju_closeResource(resource);
if (err != tinyxml2::XML_SUCCESS) {
mju_error("Problem reading XML file '%s': %s", filename,
doc.ErrorStr() ? doc.ErrorStr() : "");
}
tinyxml2::XMLElement* root = doc.RootElement();
if (!root) {
mju_error("XML root element not found in '%s'", filename);
}
std::unordered_set<std::string> files = {filename};
AccumulateFiles(files, root, model_dir);
*dependencies = {files.begin(), files.end()};
}