Convert monolithic RecompileCompare and WriteReadCompare tests into test suites, one test per file.
PiperOrigin-RevId: 890149850 Change-Id: Ib3e8c032a7b43b4a3f85e7a922e25987050cd77c
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
0021564035
commit
9f5fc99711
+132
-112
@@ -14,6 +14,7 @@
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// Tests for xml/xml_native_writer.cc.
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#include <cctype>
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#include <memory>
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#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__))
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#include <unistd.h>
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@@ -1376,131 +1377,150 @@ TEST_F(XMLWriterTest, NonRGBTextures) {
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}
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// ------------------- test loading and saving multiple files ------------------
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TEST_F(XMLWriterTest, WriteReadCompare) {
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// full precision float printing
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FullFloatPrecision increase_precision;
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// loop over all xml files in data
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std::vector<std::string> paths = {GetTestDataFilePath("."),
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GetModelPath(".")};
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std::vector<std::string> GetWriteReadTestModels() {
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std::vector<std::string> models;
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std::string ext(".xml");
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for (auto const& path : paths) {
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for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
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for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
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for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
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if (p.path().extension() == ext) {
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std::string xml = p.path().string();
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if ( // if file is meant to fail, skip it
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absl::StrContains(p.path().string(), "malformed_") ||
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absl::StrContains(p.path().string(), "_fail") ||
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absl::StrContains(xml, "malformed_") ||
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absl::StrContains(xml, "_fail") ||
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// exclude files that are too slow to load
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absl::StrContains(p.path().string(), "cow") ||
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absl::StrContains(p.path().string(), "gmsh_") ||
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absl::StrContains(p.path().string(), "shark_") ||
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absl::StrContains(p.path().string(), "perf") ||
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absl::StrContains(xml, "cow") ||
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absl::StrContains(xml, "gmsh_") ||
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absl::StrContains(xml, "shark_") ||
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absl::StrContains(xml, "perf") ||
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// exclude files that fail the comparison test
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absl::StrContains(p.path().string(), "rfcamera") ||
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absl::StrContains(p.path().string(), "tactile") ||
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absl::StrContains(p.path().string(), "makemesh") ||
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absl::StrContains(p.path().string(), "many_dependencies") ||
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absl::StrContains(p.path().string(), "usd") ||
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absl::StrContains(p.path().string(), "torus_maxhull") ||
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absl::StrContains(p.path().string(), "fitmesh_") ||
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absl::StrContains(p.path().string(), "lengthrange") ||
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absl::StrContains(p.path().string(), "hfield_xml") ||
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absl::StrContains(p.path().string(), "fromto_convex") ||
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absl::StrContains(p.path().string(), "cube_skin") ||
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absl::StrContains(p.path().string(), "cube_3x3x3")) {
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absl::StrContains(xml, "rfcamera") ||
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absl::StrContains(xml, "tactile") ||
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absl::StrContains(xml, "makemesh") ||
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absl::StrContains(xml, "many_dependencies") ||
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absl::StrContains(xml, "usd") ||
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absl::StrContains(xml, "torus_maxhull") ||
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absl::StrContains(xml, "fitmesh_") ||
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absl::StrContains(xml, "lengthrange") ||
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absl::StrContains(xml, "hfield_xml") ||
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absl::StrContains(xml, "fromto_convex") ||
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absl::StrContains(xml, "cube_skin") ||
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absl::StrContains(xml, "cube_3x3x3")) {
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continue;
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}
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// load model
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std::array<char, 1000> error;
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mjSpec* s =
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mj_parseXML(xml.c_str(), nullptr, error.data(), error.size());
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ASSERT_THAT(s, NotNull())
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<< "Failed to load " << xml.c_str() << ": " << error.data();
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mjModel* m = mj_compile(s, nullptr);
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ASSERT_THAT(m, NotNull())
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<< "Failed to load " << xml.c_str() << ": " << error.data();
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// make data
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mjData* d = mj_makeData(m);
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ASSERT_THAT(d, testing::NotNull()) << "Failed to create data\n";
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// save and load back
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auto abs_path = p.path();
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mjSpec* stemp = mj_parseXMLString(SaveAndReadXml(s).c_str(), 0,
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error.data(), error.size());
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ASSERT_THAT(stemp, NotNull())
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<< "Failed to load " << xml.c_str() << ": " << error.data();
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mjs_setString(stemp->modelfiledir,
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abs_path.remove_filename().string().c_str());
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mjModel* mtemp = mj_compile(stemp, nullptr);
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ASSERT_THAT(mtemp, NotNull())
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<< error.data() << " from " << xml.c_str();
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mjtNum tol = 0;
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// for particularly sensitive models, relax the tolerance
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if (absl::StrContains(p.path().string(), "belt.xml") ||
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absl::StrContains(p.path().string(), "cable.xml")) {
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tol = 1e-13;
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}
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// compare and delete
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std::string field = "";
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mjtNum result = CompareModel(m, mtemp, field);
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EXPECT_LE(result, tol)
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<< "Loaded and saved models are different!\n"
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<< "Affected file " << p.path().string() << '\n'
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<< "Different field: " << field << '\n';
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mj_deleteModel(mtemp);
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// check for stack memory leak
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mj_step(m, d);
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EXPECT_EQ(d->pstack, 0) << "mjData stack memory leak detected in " <<
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p.path().string() << '\n';
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// delete data
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mj_deleteData(d);
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// allocate buffer, save m into it
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size_t sz = mj_sizeModel(m);
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void* buffer = mju_malloc(sz);
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mj_saveModel(m, nullptr, buffer, sz);
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// make new VFS add buffer to it
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mjVFS* vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
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mj_defaultVFS(vfs);
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int failed = mj_addBufferVFS(vfs, "model.mjb", buffer, sz);
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EXPECT_EQ(failed, 0) << "Failed to add buffer to VFS";
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// load model from VFS
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mtemp = mj_loadModel("model.mjb", vfs);
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ASSERT_THAT(mtemp, NotNull());
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// compare with 0 tolerance
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field = "";
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result = CompareModel(m, mtemp, field);
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EXPECT_EQ(result, 0)
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<< "Loaded and saved binary models are different!\n"
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<< "Affected file " << p.path().string() << '\n'
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<< "Different field: " << field << '\n';
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// clean up
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mj_deleteSpec(s);
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mj_deleteSpec(stemp);
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mj_deleteModel(m);
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mj_deleteModel(mtemp);
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mj_deleteVFS(vfs);
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mju_free(vfs);
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mju_free(buffer);
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models.push_back(xml);
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}
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}
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}
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return models;
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}
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class WriteReadCompareTest : public XMLWriterTest,
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public ::testing::WithParamInterface<std::string> {
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public:
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};
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TEST_P(WriteReadCompareTest, WriteReadCompare) {
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std::string xml = GetParam();
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// full precision float printing
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FullFloatPrecision increase_precision;
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// load model
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std::array<char, 1000> error;
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mjSpec* s =
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mj_parseXML(xml.c_str(), nullptr, error.data(), error.size());
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if (!s) {
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GTEST_SKIP() << "Failed to load " << xml.c_str() << ": " << error.data();
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}
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mjModel* m = mj_compile(s, nullptr);
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if (!m) {
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mj_deleteSpec(s);
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GTEST_SKIP() << "Failed to compile " << xml.c_str() << ": " << error.data();
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}
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// make data
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mjData* d = mj_makeData(m);
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ASSERT_THAT(d, testing::NotNull()) << "Failed to create data\n";
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// save and load back
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auto abs_path = std::filesystem::path(xml);
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mjSpec* stemp = mj_parseXMLString(SaveAndReadXml(s).c_str(), 0, error.data(),
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error.size());
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ASSERT_THAT(stemp, NotNull())
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<< "Failed to load " << xml.c_str() << ": " << error.data();
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mjs_setString(stemp->modelfiledir,
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abs_path.remove_filename().string().c_str());
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mjModel* mtemp = mj_compile(stemp, nullptr);
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ASSERT_THAT(mtemp, NotNull()) << error.data() << " from " << xml.c_str();
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mjtNum tol = 0;
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// for particularly sensitive models, relax the tolerance
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if (absl::StrContains(xml, "belt.xml") ||
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absl::StrContains(xml, "cable.xml")) {
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tol = 1e-13;
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}
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// compare and delete
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std::string field = "";
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mjtNum result = CompareModel(m, mtemp, field);
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EXPECT_LE(result, tol) << "Loaded and saved models are different!\n"
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<< "Affected file " << xml << '\n'
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<< "Different field: " << field << '\n';
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mj_deleteModel(mtemp);
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// check for stack memory leak
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mj_step(m, d);
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EXPECT_EQ(d->pstack, 0) << "mjData stack memory leak detected in " <<
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xml << '\n';
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// delete data
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mj_deleteData(d);
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// allocate buffer, save m into it
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size_t sz = mj_sizeModel(m);
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void* buffer = mju_malloc(sz);
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mj_saveModel(m, nullptr, buffer, sz);
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// make new VFS add buffer to it
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mjVFS* vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
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mj_defaultVFS(vfs);
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int failed = mj_addBufferVFS(vfs, "model.mjb", buffer, sz);
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EXPECT_EQ(failed, 0) << "Failed to add buffer to VFS";
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// load model from VFS
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mtemp = mj_loadModel("model.mjb", vfs);
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ASSERT_THAT(mtemp, NotNull());
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// compare with 0 tolerance
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field = "";
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result = CompareModel(m, mtemp, field);
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EXPECT_EQ(result, 0) << "Loaded and saved binary models are different!\n"
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<< "Affected file " << xml << '\n'
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<< "Different field: " << field << '\n';
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// clean up
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mj_deleteSpec(s);
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mj_deleteSpec(stemp);
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mj_deleteModel(m);
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mj_deleteModel(mtemp);
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mj_deleteVFS(vfs);
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mju_free(vfs);
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mju_free(buffer);
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}
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INSTANTIATE_TEST_SUITE_P(
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AllModels, WriteReadCompareTest,
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::testing::ValuesIn(GetWriteReadTestModels()),
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[](const ::testing::TestParamInfo<std::string>& info) {
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std::string name = std::filesystem::path(info.param).filename().string();
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std::replace_if(
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name.begin(), name.end(),
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[](char c) { return !std::isalnum(c); }, '_');
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return name + "_" + std::to_string(info.index);
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});
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// ---------------- test CopyBack functionality (decompiler) ------------------
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using DecompilerTest = MujocoTest;
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TEST_F(DecompilerTest, SavesStatistics) {
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