Convert monolithic RecompileCompare and WriteReadCompare tests into test suites, one test per file.

PiperOrigin-RevId: 890149850 Change-Id: Ib3e8c032a7b43b4a3f85e7a922e25987050cd77c
2026-03-26 18:21:04 -07:00
parent 0021564035
commit 9f5fc99711
3 changed files with 264 additions and 206 deletions
@@ -14,10 +14,12 @@

 // Tests for user/user_api.cc.

+#include <algorithm>
 #include <array>
+#include <cctype>
 #include <cstddef>
 #include <cstdint>
-#include <filesystem>
+#include <filesystem>  // NOLINT
 #include <functional>
 #include <map>
 #include <memory>
@@ -515,97 +517,116 @@ TEST_F(MujocoTest, ModifyShellInertiaFails) {
 }

 // ------------------- test recompilation multiple files -----------------------
-TEST_F(MujocoTest, RecompileCompare) {
-  mjtNum tol = 0;
-  std::string field = "";

-  // full precision float printing
-  FullFloatPrecision increase_precision;
-
-  // loop over all xml files in data
-  std::vector<std::string> paths = {GetTestDataFilePath("."),
-                                    GetModelPath(".")};
+std::vector<std::string> GetRecompileTestModels() {
+  std::vector<std::string> models;
  std::string ext(".xml");
-  for (auto const& path : paths) {
-    for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
+  for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
+    for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
      if (p.path().extension() == ext) {
        std::string xml = p.path().string();
-
-        // if file is meant to fail or model is too slow to load, skip it
-        if (absl::StrContains(p.path().string(), "malformed_") ||
-            absl::StrContains(p.path().string(), "_fail") ||
-            absl::StrContains(p.path().string(), "touch_grid") ||
-            absl::StrContains(p.path().string(), "perf") ||
-            absl::StrContains(p.path().string(), "cow")) {
+        if (absl::StrContains(xml, "malformed_") ||
+            absl::StrContains(xml, "_fail") ||
+            absl::StrContains(xml, "touch_grid") ||
+            absl::StrContains(xml, "perf") ||
+            absl::StrContains(xml, "cow")) {
          continue;
        }
-
-        // load spec
-        std::array<char, 1000> err;
-        mjSpec* s = mj_parseXML(xml.c_str(), 0, err.data(), err.size());
-
-        ASSERT_THAT(s, NotNull())
-            << "Failed to load " << xml << ": " << err.data();
-
-        // copy spec
-        mjSpec* s_copy = mj_copySpec(s);
-
-        // compare signature
-        EXPECT_EQ(s->element->signature, s_copy->element->signature) << xml;
-
-        // compile twice and compare
-        mjModel* m_old = mj_compile(s, nullptr);
-
-        ASSERT_THAT(m_old, NotNull())
-            << "Failed to compile " << xml << ": " << mjs_getError(s);
-
-        mjModel* m_new = mj_compile(s, nullptr);
-        mjModel* m_copy = mj_compile(s_copy, nullptr);
-
-        // compare signature
-        EXPECT_EQ(m_old->signature, m_new->signature) << xml;
-        EXPECT_EQ(m_old->signature, m_copy->signature) << xml;
-
-        ASSERT_THAT(m_new, NotNull())
-            << "Failed to recompile " << xml << ": " << mjs_getError(s);
-        ASSERT_THAT(m_copy, NotNull())
-            << "Failed to compile " << xml << ": " << mjs_getError(s_copy);
-
-        EXPECT_LE(CompareModel(m_old, m_new, field), tol)
-            << "Compiled and recompiled models are different!\n"
-            << "Affected file " << p.path().string() << '\n'
-            << "Different field: " << field << '\n';
-
-        EXPECT_LE(CompareModel(m_old, m_copy, field), tol)
-            << "Original and copied models are different!\n"
-            << "Affected file " << p.path().string() << '\n'
-            << "Different field: " << field << '\n';
-
-        // copy to a new spec, compile and compare
-        mjSpec* s_copy2 = mj_copySpec(s);
-        mjModel* m_copy2 = mj_compile(s_copy2, nullptr);
-
-        ASSERT_THAT(m_copy2, NotNull())
-            << "Failed to compile " << xml << ": " << mjs_getError(s_copy2);
-
-        EXPECT_LE(CompareModel(m_old, m_copy2, field), tol)
-            << "Original and re-copied models are different!\n"
-            << "Affected file " << p.path().string() << '\n'
-            << "Different field: " << field << '\n';
-
-        // delete models
-        mj_deleteSpec(s);
-        mj_deleteSpec(s_copy);
-        mj_deleteSpec(s_copy2);
-        mj_deleteModel(m_old);
-        mj_deleteModel(m_new);
-        mj_deleteModel(m_copy);
-        mj_deleteModel(m_copy2);
+        models.push_back(xml);
      }
    }
  }
+  return models;
 }

+class RecompileCompareTest : public MujocoTest,
+                             public ::testing::WithParamInterface<std::string> {
+ public:
+};
+TEST_P(RecompileCompareTest, RecompileCompare) {
+  std::string xml = GetParam();
+  std::string field = "";
+
+  FullFloatPrecision increase_precision;
+
+  // load spec
+  std::array<char, 1000> err;
+  mjSpec* s = mj_parseXML(xml.c_str(), 0, err.data(), err.size());
+
+  if (!s) {
+    GTEST_SKIP() << "Failed to load " << xml << ": " << err.data();
+  }
+
+  // copy spec
+  mjSpec* s_copy = mj_copySpec(s);
+
+  // compare signature
+  EXPECT_EQ(s->element->signature, s_copy->element->signature) << xml;
+
+  // compile twice and compare
+  mjModel* m_old = mj_compile(s, nullptr);
+
+  if (!m_old) {
+    mj_deleteSpec(s);
+    GTEST_SKIP() << "Failed to compile " << xml << ": " << mjs_getError(s);
+  }
+
+  mjModel* m_new = mj_compile(s, nullptr);
+  mjModel* m_copy = mj_compile(s_copy, nullptr);
+
+  // compare signature
+  EXPECT_EQ(m_old->signature, m_new->signature) << xml;
+  EXPECT_EQ(m_old->signature, m_copy->signature) << xml;
+
+  ASSERT_THAT(m_new, NotNull())
+      << "Failed to recompile " << xml << ": " << mjs_getError(s);
+  ASSERT_THAT(m_copy, NotNull())
+      << "Failed to compile " << xml << ": " << mjs_getError(s_copy);
+
+  mjtNum tol = 0;
+
+  EXPECT_LE(CompareModel(m_old, m_new, field), tol)
+      << "Compiled and recompiled models are different!\n"
+      << "Affected file " << xml << '\n'
+      << "Different field: " << field << '\n';
+
+  EXPECT_LE(CompareModel(m_old, m_copy, field), tol)
+      << "Original and copied models are different!\n"
+      << "Affected file " << xml << '\n'
+      << "Different field: " << field << '\n';
+
+  // copy to a new spec, compile and compare
+  mjSpec* s_copy2 = mj_copySpec(s);
+  mjModel* m_copy2 = mj_compile(s_copy2, nullptr);
+
+  ASSERT_THAT(m_copy2, NotNull())
+      << "Failed to compile " << xml << ": " << mjs_getError(s_copy2);
+
+  EXPECT_LE(CompareModel(m_old, m_copy2, field), tol)
+      << "Original and re-copied models are different!\n"
+      << "Affected file " << xml << '\n'
+      << "Different field: " << field << '\n';
+
+  mj_deleteModel(m_new);
+  mj_deleteModel(m_copy);
+  mj_deleteModel(m_copy2);
+  mj_deleteSpec(s_copy);
+  mj_deleteSpec(s_copy2);
+  mj_deleteSpec(s);
+  mj_deleteModel(m_old);
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    AllModels, RecompileCompareTest,
+    ::testing::ValuesIn(GetRecompileTestModels()),
+    [](const ::testing::TestParamInfo<std::string>& info) {
+      std::string name = std::filesystem::path(info.param).filename().string();
+      std::replace_if(
+          name.begin(), name.end(),
+          [](char c) { return !std::isalnum(c); }, '_');
+      return name + "_" + std::to_string(info.index);
+    });
+
 TEST_F(MujocoTest, RecompileEdit) {
  static constexpr char xml[] = R"(
  <mujoco>