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

PiperOrigin-RevId: 890149850
Change-Id: Ib3e8c032a7b43b4a3f85e7a922e25987050cd77c

test/CMakeLists.txt

@@ -54,20 +54,36 @@ macro(mujoco_test name)
   endif()
   target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
   set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
-  # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
+  # gtest_discover_tests is recommended over gtest_add_tests, but has issues on Windows.
-  gtest_add_tests(
+  # It also requires a GoogleTest binary, so we fall back for custom MAIN_TARGET (e.g. benchmarks).
-    TARGET ${name}
+  if(WIN32 OR _ARGS_MAIN_TARGET)
-    SOURCES ${name}.cc
+    gtest_add_tests(
-    WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
+      TARGET ${name}
-    TEST_LIST testList
+      SOURCES ${name}.cc
-  )
+      WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
-  if(WIN32)
+      TEST_LIST testList
-    set_tests_properties(
-      ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
     )
-  endif()
+    if(WIN32)
-  if(_ARGS_PROPERTIES)
+      set_tests_properties(
-    set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
+        ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
+      )
+    endif()
+    if(_ARGS_PROPERTIES)
+      set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
+    endif()
+  else()
+    if(_ARGS_PROPERTIES)
+      gtest_discover_tests(
+        ${name}
+        WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
+        PROPERTIES ${_ARGS_PROPERTIES}
+      )
+    else()
+      gtest_discover_tests(
+        ${name}
+        WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
+      )
+    endif()
   endif()
 
 endmacro()
@@ -102,3 +118,4 @@ add_subdirectory(xml)
 add_subdirectory(plugin/elasticity)
 add_subdirectory(plugin/actuator)
 add_subdirectory(experimental)
+

test/user/user_api_test.cc

@@ -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
+std::vector<std::string> GetRecompileTestModels() {
-  FullFloatPrecision increase_precision;
+  std::vector<std::string> models;
-
-  // loop over all xml files in data
-  std::vector<std::string> paths = {GetTestDataFilePath("."),
-                                    GetModelPath(".")};
   std::string ext(".xml");
-  for (auto const& path : paths) {
+  for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
-    for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
+    for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
       if (p.path().extension() == ext) {
         std::string xml = p.path().string();
-
+        if (absl::StrContains(xml, "malformed_") ||
-        // if file is meant to fail or model is too slow to load, skip it
+            absl::StrContains(xml, "_fail") ||
-        if (absl::StrContains(p.path().string(), "malformed_") ||
+            absl::StrContains(xml, "touch_grid") ||
-            absl::StrContains(p.path().string(), "_fail") ||
+            absl::StrContains(xml, "perf") ||
-            absl::StrContains(p.path().string(), "touch_grid") ||
+            absl::StrContains(xml, "cow")) {
-            absl::StrContains(p.path().string(), "perf") ||
-            absl::StrContains(p.path().string(), "cow")) {
           continue;
         }
-
+        models.push_back(xml);
-        // 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);
       }
     }
   }
+  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>

test/xml/xml_native_writer_test.cc

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