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Format some more files in user/

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PiperOrigin-RevId: 958383817
Change-Id: I17fcdbf32967ec5a5c4d2552823ef5100faaea3b
This commit is contained in:
Yuval Tassa
2026-08-03 08:16:21 -07:00
committed by Copybara-Service
parent 7927e908a3
commit 8a643f4e2b
9 changed files with 961 additions and 1202 deletions
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src/user/user_cache.h
+36 -38
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@@ -38,40 +38,39 @@ typedef void (*mjCDeallocFunc)(const void*);
// asset).
class mjCAsset {
friend class mjCCache;
public:
mjCAsset(std::string modelname, std::string id, const mjResource* resource,
std::shared_ptr<const void> data, std::size_t size) :
id_(id), timestamp_(resource->timestamp),
size_(size), data_(std::move(data)) {
mjCAsset(std::string modelname,
std::string id,
const mjResource* resource,
std::shared_ptr<const void> data,
std::size_t size)
: id_(id), timestamp_(resource->timestamp), size_(size), data_(std::move(data)) {
AddReference(modelname);
}
// move and copy constructors
mjCAsset(mjCAsset&& other) = default;
mjCAsset& operator=(mjCAsset&& other) = default;
mjCAsset(const mjCAsset& other) = default;
mjCAsset(mjCAsset&& other) = default;
mjCAsset& operator=(mjCAsset&& other) = default;
mjCAsset(const mjCAsset& other) = default;
mjCAsset& operator=(const mjCAsset& other) = default;
const std::string& Timestamp() const { return timestamp_; }
const std::string& Id() const { return id_; }
std::size_t InsertNum() const { return insert_num_; }
std::size_t AccessCount() const { return access_count_; }
std::size_t InsertNum() const { return insert_num_; }
std::size_t AccessCount() const { return access_count_; }
// pass data in the cache to the given function, return true if data was copied
bool PopulateData(mjCDataFunc fn) const {
return fn(data_.get());
}
bool PopulateData(mjCDataFunc fn) const { return fn(data_.get()); }
private:
mjCAsset() = default;
// helpers for managing models referencing this asset
void AddReference(std::string xml_file) { references_.insert(xml_file); }
void RemoveReference(const std::string& xml_file) {
references_.erase(xml_file);
}
void RemoveReference(const std::string& xml_file) { references_.erase(xml_file); }
void ReplaceData(const mjCAsset& other) {
void ReplaceData(const mjCAsset& other) {
data_ = other.data_;
size_ = other.size_;
}
@@ -88,18 +87,16 @@ class mjCAsset {
void SetTimestamp(std::string timestamp) { timestamp_ = timestamp; }
// accessors
std::size_t BytesCount() const { return size_; }
const void* Data() const {
return data_.get();
}
std::size_t BytesCount() const { return size_; }
const void* Data() const { return data_.get(); }
const std::set<std::string>& References() const { return references_; }
std::string id_; // unique id associated with asset
std::string timestamp_; // opaque timestamp of asset
std::size_t insert_num_; // number when asset was inserted
std::size_t access_count_ = 0; // incremented when getting 0th block
std::size_t size_ = 0; // how many bytes taken up by the asset
std::shared_ptr<const void> data_; // actual data of the asset
std::string id_; // unique id associated with asset
std::string timestamp_; // opaque timestamp of asset
std::size_t insert_num_; // number when asset was inserted
std::size_t access_count_ = 0; // incremented when getting 0th block
std::size_t size_ = 0; // how many bytes taken up by the asset
std::shared_ptr<const void> data_; // actual data of the asset
// list of models referencing this asset
std::set<std::string> references_;
@@ -107,9 +104,7 @@ class mjCAsset {
struct mjCAssetCompare {
bool operator()(const mjCAsset* e1, const mjCAsset* e2) const {
if (e1->AccessCount() != e2->AccessCount()) {
return e1->AccessCount() < e2->AccessCount();
}
if (e1->AccessCount() != e2->AccessCount()) { return e1->AccessCount() < e2->AccessCount(); }
return e1->InsertNum() < e2->InsertNum();
}
};
@@ -117,12 +112,12 @@ struct mjCAssetCompare {
// the class container for a thread-safe asset cache
class mjCCache {
public:
explicit mjCCache(std::size_t size) : capacity_(size) {}
explicit mjCCache(std::size_t size) : capacity_(size) {}
// move only
mjCCache(mjCCache&& other) = delete;
mjCCache& operator=(mjCCache&& other) = delete;
mjCCache(const mjCCache& other) = delete;
mjCCache(mjCCache&& other) = delete;
mjCCache& operator=(mjCCache&& other) = delete;
mjCCache(const mjCCache& other) = delete;
mjCCache& operator=(const mjCCache& other) = delete;
// sets the capacity of the cache in bytes
@@ -136,8 +131,11 @@ class mjCCache {
// inserts an asset into the cache, if asset is already in the cache, its data
// is updated only if the timestamps disagree
bool Insert(const std::string& modelname, const std::string& id, const mjResource *resource,
std::shared_ptr<const void> data, std::size_t size);
bool Insert(const std::string& modelname,
const std::string& id,
const mjResource* resource,
std::shared_ptr<const void> data,
std::size_t size);
// populate data from the cache into the given function
bool PopulateData(const std::string& id, const mjResource* resource, mjCDataFunc fn);
@@ -168,9 +166,9 @@ class mjCCache {
// engine/engine_plugin.cc as some of these methods don't need to be fully
// locked.
mutable std::mutex mutex_;
std::size_t insert_num_ = 0; // a running counter of assets being inserted
std::size_t size_ = 0; // current size of the cache in bytes
std::size_t capacity_ = 0; // capacity of the cache in bytes
std::size_t insert_num_ = 0; // a running counter of assets being inserted
std::size_t size_ = 0; // current size of the cache in bytes
std::size_t capacity_ = 0; // capacity of the cache in bytes
// internal constant look up table for assets
std::unordered_map<std::string, mjCAsset> lookup_;