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Add checksums (used as a timestamp) to VFS.

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Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
This commit is contained in:
Kyle Bayes
2024-02-21 02:24:35 -08:00
committed by Copybara-Service
parent 042760eba8
commit a4a621f6e3
15 changed files with 251 additions and 78 deletions
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test/engine/engine_util_misc_test.cc
-1
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@@ -247,7 +247,6 @@ TEST_F(Base64Test, mju_encodeBase64) {
EXPECT_THAT(buffer.data(), StrEq("D4a+//A="));
EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_encodeBase64_align0) {
test/engine/engine_vfs_test.cc
+42 -26
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@@ -12,6 +12,9 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <array>
#include <cstdio>
#include <memory>
#include <string>
#include <gmock/gmock.h>
@@ -25,7 +28,7 @@ namespace {
using ::testing::NotNull;
using EngineVfsTest = MujocoTest;
TEST_F(EngineVfsTest, AddFileVFS) {
TEST_F(EngineVfsTest, AddFileTest) {
constexpr char path[] = "engine/testdata/actuation/";
const std::string dir = GetTestDataFilePath(path);
std::string file1 = "activation.xml";
@@ -44,38 +47,51 @@ TEST_F(EngineVfsTest, AddFileVFS) {
ASSERT_THAT(fp3, NotNull()) << "Input file3 missing.";
std::fclose(fp3);
auto mj_vfs = std::make_unique<mjVFS>();
mj_defaultVFS(mj_vfs.get());
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
EXPECT_THAT(mj_vfs->nfile, 0);
EXPECT_THAT(mj_addFileVFS(mj_vfs.get(), dir.c_str(), file1.c_str()), 0);
EXPECT_THAT(mj_vfs->nfile, 1);
EXPECT_THAT(mj_vfs->filename[0], file1);
EXPECT_THAT(vfs->nfile, 0);
EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file1.c_str()), 0);
EXPECT_THAT(vfs->nfile, 1);
EXPECT_THAT(vfs->filename[0], file1);
EXPECT_THAT(mj_addFileVFS(mj_vfs.get(), dir.c_str(), file2.c_str()), 0);
EXPECT_THAT(mj_vfs->nfile, 2);
EXPECT_THAT(mj_vfs->filename[0], file1);
EXPECT_THAT(mj_vfs->filename[1], file2);
EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file2.c_str()), 0);
EXPECT_THAT(vfs->nfile, 2);
EXPECT_THAT(vfs->filename[0], file1);
EXPECT_THAT(vfs->filename[1], file2);
EXPECT_THAT(mj_addFileVFS(mj_vfs.get(), dir.c_str(), file3.c_str()), 0);
EXPECT_THAT(mj_vfs->nfile, 3);
EXPECT_THAT(mj_vfs->filename[0], file1);
EXPECT_THAT(mj_vfs->filename[1], file2);
EXPECT_THAT(mj_vfs->filename[2], file3);
EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file3.c_str()), 0);
EXPECT_THAT(vfs->nfile, 3);
EXPECT_THAT(vfs->filename[0], file1);
EXPECT_THAT(vfs->filename[1], file2);
EXPECT_THAT(vfs->filename[2], file3);
mj_deleteFileVFS(mj_vfs.get(), file1.c_str());
EXPECT_THAT(mj_vfs->nfile, 2);
EXPECT_THAT(mj_vfs->filename[0], file2);
EXPECT_THAT(mj_vfs->filename[1], file3);
mj_deleteFileVFS(vfs.get(), file1.c_str());
EXPECT_THAT(vfs->nfile, 2);
EXPECT_THAT(vfs->filename[0], file2);
EXPECT_THAT(vfs->filename[1], file3);
mj_deleteFileVFS(mj_vfs.get(), file3.c_str());
EXPECT_THAT(mj_vfs->nfile, 1);
EXPECT_THAT(mj_vfs->filename[0], file2);
mj_deleteFileVFS(vfs.get(), file3.c_str());
EXPECT_THAT(vfs->nfile, 1);
EXPECT_THAT(vfs->filename[0], file2);
mj_deleteFileVFS(mj_vfs.get(), file2.c_str());
EXPECT_THAT(mj_vfs->nfile, 0);
mj_deleteFileVFS(vfs.get(), file2.c_str());
EXPECT_THAT(vfs->nfile, 0);
mj_deleteVFS(mj_vfs.get());
mj_deleteVFS(vfs.get());
}
TEST_F(EngineVfsTest, AddBufferTest) {
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
std::string buffer = "<mujoco/>";
mj_addBufferVFS(vfs.get(), "model", static_cast<const void*>(buffer.c_str()),
buffer.size());
std::array<char, 1024> error;
mjModel* model = mj_loadXML("model", vfs.get(), error.data(), error.size());
EXPECT_THAT(model, NotNull());
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
} // namespace