Fix null pointer deref for unknown class names.

PiperOrigin-RevId: 610391077 Change-Id: I5abd62ff46e31e788f06fe111adb3c25287d4fdc
2024-02-26 06:38:03 -08:00
parent b47d97652e
commit 8679c9fc59
4 changed files with 46 additions and 5 deletions
@@ -33,12 +33,13 @@ namespace mujoco {
 namespace {

 using ::std::string;
+using ::testing::AllOf;
 using ::testing::Eq;
+using ::testing::FloatEq;
 using ::testing::HasSubstr;
 using ::testing::IsNan;
 using ::testing::IsNull;
 using ::testing::NotNull;
-using ::testing::FloatEq;

 using XMLReaderTest = MujocoTest;

@@ -462,6 +463,29 @@ TEST_F(XMLReaderTest, RepeatedDefaultName) {
  EXPECT_THAT(error.data(), HasSubstr("repeated default class name"));
 }

+TEST_F(XMLReaderTest, InvalidDefaultClassName) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <default>
+      <default class="sphere">
+        <geom type="sphere" size="1"/>
+      </default>
+    </default>
+    <worldbody>
+      <body>
+        <geom class="invalid"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull()) << error.data();
+  EXPECT_THAT(error.data(),
+              AllOf(HasSubstr("unknown default class name 'invalid'"),
+                    HasSubstr("Element 'geom'"), HasSubstr("line 10")));
+}
+
 // ------------------------ test including -------------------------------------

 // credit: https://www.mjt.me.uk/posts/smallest-png/