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Add engine internal error macro mjERROR to prepend calling function to error function.

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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
This commit is contained in:
Kyle Bayes
2023-06-19 03:28:44 -07:00
committed by Copybara-Service
parent c9e9cd8b35
commit ac1f41160d
28 changed files with 218 additions and 162 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/bindings_test.py
+2 -1
View File
@@ -926,7 +926,8 @@ Euler integrator, semi-implicit in velocity.
def test_can_raise_error(self):
self.data.pstack = self.data.nstack
with self.assertRaisesRegex(mujoco.FatalError, r'\Astack overflow'):
with self.assertRaisesRegex(mujoco.FatalError,
r'\Amj_stackAlloc: stack overflow'):
mujoco.mj_forward(self.model, self.data)
def test_mjcb_time(self):
python/mujoco/rollout_test.py
+2 -2
View File
@@ -369,8 +369,8 @@ class MuJoCoRolloutTest(parameterized.TestCase):
ctrl = np.zeros((3, model.nu))
model.opt.solver = 10 # invalid solver type
with self.assertRaisesWithLiteralMatch(mujoco.FatalError,
'Unknown solver type 10'):
with self.assertRaisesWithLiteralMatch(
mujoco.FatalError, 'mj_fwdConstraint: unknown solver type 10'):
state, sensordata = rollout.rollout(model, data, initial_state, ctrl)
def test_invalid(self):
src/engine/engine_collision_convex.c
+1 -1
View File
@@ -191,7 +191,7 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
break;
default:
mju_error("ccd support function is undefined for geom type %d", m->geom_type[g]);
mjERROR("ccd support function is undefined for geom type %d", m->geom_type[g]);
}
// add dir*margin/2 to result
src/engine/engine_collision_driver.c
+19 -10
View File
@@ -274,7 +274,9 @@ void mj_collideTree(const mjModel* m, mjData* d, int b1, int b2,
if (!isleaf1 && isleaf2) {
for (int i=0; i < 2; i++) {
if (child1[2*node1+i] != -1) {
if (nstack >= max_stack) mju_error("BVH stack depth exceeded."); // SHOULD NOT OCCUR
if (nstack >= max_stack) {
mjERROR("BVH stack depth exceeded."); // SHOULD NOT OCCUR
}
stack[nstack].node1 = child1[2*node1+i];
stack[nstack].node2 = node2;
nstack++;
@@ -283,7 +285,9 @@ void mj_collideTree(const mjModel* m, mjData* d, int b1, int b2,
} else if (isleaf1 && !isleaf2) {
for (int i=0; i < 2; i++) {
if (child2[2*node2+i] != -1) {
if (nstack >= max_stack) mju_error("BVH stack depth exceeded."); // SHOULD NOT OCCUR
if (nstack >= max_stack) {
mjERROR("BVH stack depth exceeded."); // SHOULD NOT OCCUR
}
stack[nstack].node1 = node1;
stack[nstack].node2 = child2[2*node2+i];
nstack++;
@@ -304,7 +308,9 @@ void mj_collideTree(const mjModel* m, mjData* d, int b1, int b2,
if (surface1 > surface2) {
for (int i = 0; i < 2; i++) {
if (child1[2 * node1 + i] != -1) {
if (nstack >= max_stack) mju_error("BVH stack depth exceeded."); // SHOULD NOT OCCUR
if (nstack >= max_stack) {
mjERROR("BVH stack depth exceeded."); // SHOULD NOT OCCUR
}
stack[nstack].node1 = child1[2 * node1 + i];
stack[nstack].node2 = node2;
nstack++;
@@ -313,7 +319,9 @@ void mj_collideTree(const mjModel* m, mjData* d, int b1, int b2,
} else {
for (int i = 0; i < 2; i++) {
if (child2[2 * node2 + i] != -1) {
if (nstack >= max_stack) mju_error("BVH stack depth exceeded."); // SHOULD NOT OCCUR
if (nstack >= max_stack) {
mjERROR("BVH stack depth exceeded."); // SHOULD NOT OCCUR
}
stack[nstack].node1 = node1;
stack[nstack].node2 = child2[2*node2+i];
nstack++;
@@ -590,7 +598,7 @@ static void add_pair(const mjModel* m, int b1, int b2, int* npair, int* pair, in
(*npair)++;
} else {
mju_error("Broadphase buffer full");
mjERROR("broadphase buffer full");
}
}
@@ -767,7 +775,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
// sanity check; SHOULD NOT OCCUR
if (k != bufcnt) {
mju_error("Internal error in broadphase: unexpected bufcnt");
mjERROR("internal error: unexpected bufcnt");
}
// sort along axis0
@@ -939,7 +947,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// check number of contacts, SHOULD NOT OCCUR
if (num > mjMAXCONPAIR) {
mju_error("Too many contacts returned by collision function");
mjERROR("too many contacts returned by collision function");
}
// remove repeated contacts in box-box
@@ -1065,10 +1073,11 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// add contact returned by collision detector
for (int i=0; i < num; i++) {
// set contact data
if (condim > 6 || condim < 1) { // SHOULD NOT OCCUR
mju_error("Invalid condim value: %d", i);
if (condim > 6 || condim < 1) {
mjERROR("invalid condim value: %d", i); // SHOULD NOT OCCUR
}
// set contact data
con[i].dim = condim;
con[i].geom1 = g1;
con[i].geom2 = g2;
src/engine/engine_core_constraint.c
+10 -10
View File
@@ -203,7 +203,7 @@ int mj_addConstraint(const mjModel* m, mjData* d,
// chain required in sparse mode
if (NV && !chain) {
mju_error("Sparse mj_addConstraint called with dense arguments");
mjERROR("called with dense arguments");
}
// process size elements
@@ -556,7 +556,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
break;
default: // SHOULD NOT OCCUR
mju_error("Invalid equality constraint type %d", m->eq_type[i]);
mjERROR("invalid equality constraint type %d", m->eq_type[i]);
}
// add constraint
@@ -932,7 +932,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown constraint type type %d", d->efc_type[i]); // SHOULD NOT OCCUR
mjERROR("unknown constraint type type %d", d->efc_type[i]); // SHOULD NOT OCCUR
}
break;
@@ -1646,29 +1646,29 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
// check sparse allocation
if (mj_isSparse(m)) {
if (d->ne != ne_allocated) {
mju_error("ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
mjERROR("ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
}
if (d->nf != nf_allocated) {
mju_error("nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
mjERROR("nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
}
// check that nefc was computed correctly
if (d->nefc != nefc_allocated) {
mju_error("nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
mjERROR("nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
}
// check that nnzJ was computed correctly
if (d->nefc > 0) {
int nnzJ = d->efc_J_rownnz[d->nefc - 1] + d->efc_J_rowadr[d->nefc - 1];
if (d->nnzJ != nnzJ) {
mju_error("constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d",
nnzJ, d->nnzJ);
mjERROR("constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d",
nnzJ, d->nnzJ);
}
}
} else if (d->nefc > nefc_allocated) {
mju_error("nefc under-allocation: found nefc=%d but allocated only %d",
d->nefc, nefc_allocated);
mjERROR("nefc under-allocation: found nefc=%d but allocated only %d",
d->nefc, nefc_allocated);
}
// collect memory use statistics
src/engine/engine_core_smooth.c
+5 -5
View File
@@ -135,7 +135,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown joint type %d", jtype); // SHOULD NOT OCCUR
mjERROR("unknown joint type %d", jtype); // SHOULD NOT OCCUR
}
// assign xanchor and xaxis
@@ -514,7 +514,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
// do wrapping, possibly get 2 extra points (wlen>=0)
sideid = mju_round(m->wrap_prm[adr+j+1]);
if (sideid < -1 || sideid >= m->nsite) {
mju_error("Invalid sideid %d in wrap_prm", sideid); // SHOULD NOT OCCUR
mjERROR("invalid sideid %d in wrap_prm", sideid); // SHOULD NOT OCCUR
}
wlen = mju_wrap(wpnt+3, d->site_xpos+3*id0, d->site_xpos+3*id1,
@@ -943,7 +943,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown transmission type %d", m->actuator_trntype[i]); // SHOULD NOT OCCUR
mjERROR("unknown transmission type %d", m->actuator_trntype[i]); // SHOULD NOT OCCUR
}
}
@@ -1503,7 +1503,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
int i = 0;
while (i < d->ne) {
if (d->efc_type[i] != mjCNSTR_EQUALITY)
mju_error("Row %d of efc is not an equality constraint", i); // SHOULD NOT OCCUR
mjERROR("row %d of efc is not an equality constraint", i); // SHOULD NOT OCCUR
int id = d->efc_id[i];
mjtNum* eq_data = m->eq_data + mjNEQDATA*id;
@@ -1555,7 +1555,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown constraint type type %d", m->eq_type[id]); // SHOULD NOT OCCUR
mjERROR("unknown constraint type type %d", m->eq_type[id]); // SHOULD NOT OCCUR
}
}
src/engine/engine_derivative.c
+2 -2
View File
@@ -471,7 +471,7 @@ static void addToParent(const mjModel* m, mjData* d, mjtNum* mat, int n) {
// child nonzeroes must be subset of parent; SHOULD NOT OCCUR
else {
mju_error("Error in addToParent: child nonzeroes must be subset of parent");
mjERROR("child nonzeroes must be subset of parent");
}
}
}
@@ -539,7 +539,7 @@ static void mjd_comVel_vel(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* D
break;
default:
mju_error("mjd_comVel_vel: Unknown joint type");
mjERROR("unknown joint type");
}
}
}
src/engine/engine_derivative_fd.c
+4 -4
View File
@@ -169,7 +169,7 @@ void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
break;
default:
mju_error("Invalid integrator");
mjERROR("invalid integrator");
}
TM_END(mjTIMER_STEP);
@@ -294,7 +294,7 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
// make sure final row counters equal rownnz
for (int i=0; i < nv; i++) {
if (cnt[i] != d->D_rownnz[i]) {
mju_error("error in constructing FD sparse derivative");
mjERROR("error in constructing FD sparse derivative");
}
}
@@ -637,11 +637,11 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
mjMARKSTACK;
if (m->opt.integrator == mjINT_RK4) {
mju_error("RK4 integrator is not supported by mjd_inverseFD");
mjERROR("RK4 integrator is not supported");
}
if (m->opt.noslip_iterations) {
mju_error("The noslip solver is not supported by mjd_inverseFD");
mjERROR("noslip solver is not supported");
}
// skip sensor computations if no sensor Jacobians requested
src/engine/engine_forward.c
+7 -7
View File
@@ -279,11 +279,11 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->capabilityflags & mjPLUGIN_ACTUATOR) {
if (!plugin->compute) {
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_ACTUATOR);
}
@@ -481,7 +481,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown solver type %d", m->opt.solver);
mjERROR("unknown solver type %d", m->opt.solver);
}
// save result for next step warmstart
@@ -534,7 +534,7 @@ static void mj_advance(const mjModel* m, mjData* d,
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->advance) {
plugin->advance(m, d, i);
@@ -624,7 +624,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
// check order
if (!A) {
mju_error("Supported RK orders: N=4");
mjERROR("supported RK orders: N=4");
}
// allocate space for intermediate solutions
@@ -758,7 +758,7 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
mju_copy(qacc, qfrc, m->nv);
mj_solveLD(m, qacc, 1, d->qH, d->qHDiagInv);
} else {
mju_error("mj_implicitSkip: integrator must be implicit or implicitfast");
mjERROR("integrator must be implicit or implicitfast");
}
// advance state and time
@@ -859,7 +859,7 @@ void mj_step(const mjModel* m, mjData* d) {
break;
default:
mju_error("Invalid integrator");
mjERROR("invalid integrator");
}
TM_END(mjTIMER_STEP);
src/engine/engine_io.c
+30 -30
View File
@@ -281,12 +281,12 @@ static int getnptr(void) {
static void bufwrite(const void* src, int num, int szbuf, void* buf, int* ptrbuf) {
// check pointers
if (!src || !buf || !ptrbuf) {
mju_error("NULL pointer passed to bufwrite");
mjERROR("NULL pointer passed to bufwrite");
}
// check size
if (*ptrbuf+num > szbuf) {
mju_error("Attempting to write outside model buffer");
mjERROR("attempting to write outside model buffer");
}
// write, advance pointer
@@ -300,12 +300,12 @@ static void bufwrite(const void* src, int num, int szbuf, void* buf, int* ptrbuf
static void bufread(void* dest, int num, int szbuf, const void* buf, int* ptrbuf) {
// check pointers
if (!dest || !buf || !ptrbuf) {
mju_error("NULL pointer passed to bufread");
mjERROR("NULL pointer passed to bufread");
}
// check size
if (*ptrbuf+num > szbuf) {
mju_error("Attempting to read outside model buffer");
mjERROR("attempting to read outside model buffer");
}
// read, advance pointer
@@ -347,7 +347,7 @@ static void mj_setPtrModel(mjModel* m) {
sz = (int)(ptr - (char*)m->buffer);
if (m->nbuffer != sz) {
printf("expected size: %d, actual size: %d\n", m->nbuffer, sz);
mju_error("mjModel buffer size mismatch");
mjERROR("mjModel buffer size mismatch");
}
}
@@ -399,7 +399,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
// allocate mjModel
mjModel* m = (mjModel*)mju_malloc(sizeof(mjModel));
if (!m) {
mju_error("Could not allocate mjModel");
mjERROR("could not allocate mjModel");
}
memset(m, 0, sizeof(mjModel));
@@ -502,7 +502,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
m->buffer = mju_malloc(m->nbuffer);
if (!m->buffer) {
mju_free(m);
mju_error("Could not allocate mjModel buffer");
mjERROR("could not allocate mjModel buffer");
}
// clear, set pointers in buffer
@@ -543,13 +543,13 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nuser_sensor, src->nnames);
}
if (!dest) {
mju_error("Failed to make mjModel. Invalid sizes.");
mjERROR("failed to make mjModel. Invalid sizes.");
}
// check sizes
if (dest->nbuffer != src->nbuffer) {
mj_deleteModel(dest);
mju_error("dest and src models have different buffer size");
mjERROR("dest and src models have different buffer size");
}
// save buffer ptr, copy everything, restore buffer and other pointers
@@ -745,7 +745,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
int index = mj_registerVfsProvider(vfs);
if (index < 1) {
mju_error("mj_loadModel: could not allocate memory");
mjERROR("could not allocate memory");
return NULL;
}
@@ -840,7 +840,7 @@ static void makeDSparse(const mjModel* m, mjData* d) {
// sanity check; SHOULD NOT OCCUR
for (int i = 0; i < nv; i++) {
if (remaining[i] != 0) {
mju_error("Error in mj_makeDSparse: unexpected remaining");
mjERROR("unexpected remaining");
}
}
@@ -865,7 +865,7 @@ static void makeBSparse(const mjModel* m, mjData* d) {
// sanity check; SHOULD NOT OCCUR
if (rownnz[0] != nv) {
mju_error("Error in mj_makeBSparse: rownnz[0] different from nv");
mjERROR("rownnz[0] different from nv");
}
// add dofs in ancestors bodies
@@ -885,7 +885,7 @@ static void makeBSparse(const mjModel* m, mjData* d) {
// sanity check; SHOULD NOT OCCUR
if (m->nB != rowadr[nbody - 1] + rownnz[nbody - 1]) {
mju_error("Error in mj_makeBSparse: sum of rownnz different from nB");
mjERROR("sum of rownnz different from nB");
}
// allocate and clear incremental row counts
@@ -928,7 +928,7 @@ static void makeBSparse(const mjModel* m, mjData* d) {
for (int i = 0; i < nbody; i++) {
// make sure cnt = rownnz; SHOULD NOT OCCUR
if (rownnz[i] != cnt[i]) {
mju_error("Error in mj_makeBSparse: cnt different from rownnz");
mjERROR("cnt different from rownnz");
}
// sort colind in each row
@@ -951,11 +951,11 @@ static void checkDBSparse(const mjModel* m, mjData* d) {
// D[row j] and B[row i] should be identical
if (d->D_rownnz[j] != d->B_rownnz[i]) {
mju_error("Error in checkDBSparse: rows have different nnz");
mjERROR("rows have different nnz");
}
for (int k = 0; k < d->D_rownnz[j]; k++) {
if (d->D_colind[d->D_rowadr[j] + k] != d->B_colind[d->B_rowadr[i] + k]) {
mju_error("Error in checkDBSparse: rows have different colind");
mjERROR("rows have different colind");
}
}
}
@@ -985,7 +985,7 @@ static void mj_setPtrData(const mjModel* m, mjData* d) {
// check size
sz = (int)(ptr - (char*)d->buffer);
if (d->nbuffer != sz) {
mju_error("mjData buffer size mismatch");
mjERROR("mjData buffer size mismatch");
}
// zero-initialize arena pointers
@@ -1005,7 +1005,7 @@ static mjData* _makeData(const mjModel* m) {
// allocate mjData
mjData* d = (mjData*) mju_malloc(sizeof(mjData));
if (!d) {
mju_error("Could not allocate mjData");
mjERROR("could not allocate mjData");
}
// prepare symbols needed by xmacro
@@ -1031,7 +1031,7 @@ static mjData* _makeData(const mjModel* m) {
d->buffer = mju_malloc(d->nbuffer);
if (!d->buffer) {
mju_free(d);
mju_error("Could not allocate mjData buffer");
mjERROR("could not allocate mjData buffer");
}
// allocate arena
@@ -1039,7 +1039,7 @@ static mjData* _makeData(const mjModel* m) {
if (!d->arena) {
mju_free(d->buffer);
mju_free(d);
mju_error("Could not allocate mjData arena");
mjERROR("could not allocate mjData arena");
}
// set pointers into buffer, reset data
@@ -1055,7 +1055,7 @@ static mjData* _makeData(const mjModel* m) {
mju_free(d->buffer);
mju_free(d->arena);
mju_free(d);
mju_error("plugin->init failed for plugin id %d", i);
mjERROR("plugin->init failed for plugin id %d", i);
}
}
}
@@ -1084,15 +1084,15 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
// check sizes
if (dest->nbuffer != src->nbuffer) {
mju_error("dest and src data buffers have different size");
mjERROR("dest and src data buffers have different size");
}
if (dest->nstack != src->nstack) {
mju_error("dest and src stacks have different size");
mjERROR("dest and src stacks have different size");
}
// stack is in use
if (src->pstack) {
mju_error("Attempting to copy mjData while stack is in use");
mjERROR("attempting to copy mjData while stack is in use");
}
// save pointers, copy everything, restore pointers
@@ -1109,7 +1109,7 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
if (plugin_data_size) {
save_plugin_data = (uintptr_t*)mju_malloc(plugin_data_size);
if (!save_plugin_data) {
mju_error("failed to allocate temporary memory for plugin_data");
mjERROR("failed to allocate temporary memory for plugin_data");
}
memcpy(save_plugin_data, dest->plugin_data, plugin_data_size);
}
@@ -1200,7 +1200,7 @@ mjtNum* mj_stackAlloc(mjData* d, int size) {
size_t stack_available_bytes = d->nstack * sizeof(mjtNum) - d->parena;
size_t stack_required_bytes = (d->pstack + size + 2*mjREDZONE) * sizeof(mjtNum);
if (stack_required_bytes > stack_available_bytes) {
mju_error("stack overflow: max = %zu, available = %zu, requested = %zu "
mjERROR("stack overflow: max = %zu, available = %zu, requested = %zu "
"(ne = %d, nf = %d, nefc = %d, ncon = %d)",
d->nstack * sizeof(mjtNum), stack_available_bytes, stack_required_bytes,
d->ne, d->nf, d->nefc, d->ncon);
@@ -1217,7 +1217,7 @@ mjtNum* mj_stackAlloc(mjData* d, int size) {
#ifdef ADDRESS_SANITIZER
if ((uintptr_t)result % sizeof(mjtNum)) {
mju_error("mj_stackAlloc fails to align to sizeof(mjtNum)");
mjERROR("mj_stackAlloc fails to align to sizeof(mjtNum)");
}
// actual stack usage (without red zone bytes) is stored in the red zone
@@ -1775,7 +1775,7 @@ const char* mj_validateReferences(const mjModel* m) {
break;
default:
mju_error("mj_validateReferences: unknown equality constraint type.");
mjERROR("unknown equality constraint type.");
}
}
for (int i=0; i < m->nwrap; i++) {
@@ -1843,8 +1843,8 @@ const char* mj_validateReferences(const mjModel* m) {
if (sensor_type == mjSENS_PLUGIN) {
const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[m->sensor_plugin[i]]);
if (!plugin->nsensordata) {
mju_error("`nsensordata` is a null function pointer for plugin at slot %d",
m->plugin[m->sensor_plugin[i]]);
mjERROR("`nsensordata` is a null function pointer for plugin at slot %d",
m->plugin[m->sensor_plugin[i]]);
}
sensor_size = plugin->nsensordata(m, m->sensor_plugin[i], i);
} else {
src/engine/engine_passive.c
+4 -4
View File
@@ -168,11 +168,11 @@ void mj_passive(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->capabilityflags & mjPLUGIN_PASSIVE) {
if (!plugin->compute) {
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_PASSIVE);
}
@@ -474,7 +474,7 @@ void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
virtual_inertia[1] = geom_fluid_coefs[i++];
virtual_inertia[2] = geom_fluid_coefs[i++];
if (i != mjNFLUID) {
mju_error("Error in reading geom_fluid_coefs: wrong number of entries.");
mjERROR("wrong number of entries.");
}
}
@@ -504,6 +504,6 @@ void writeFluidGeomInteraction (mjtNum* geom_fluid_coefs,
geom_fluid_coefs[i++] = virtual_inertia[1];
geom_fluid_coefs[i++] = virtual_inertia[2];
if (i != mjNFLUID) {
mju_error("Error in writing geom_fluid_coefs: wrong number of entries.");
mjERROR("wrong number of entries.");
}
}
src/engine/engine_print.c
+1 -1
View File
@@ -735,7 +735,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// stack in use, SHOULD NOT OCCUR
if (d->pstack) {
mju_error("Attempting to print mjData when stack is in use");
mjERROR("attempting to print mjData when stack is in use");
}
// get file
src/engine/engine_ray.c
+11 -9
View File
@@ -452,7 +452,7 @@ mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
const mjtNum* pnt, const mjtNum* vec) {
// check geom type
if (m->geom_type[id] != mjGEOM_HFIELD) {
mju_error("mj_rayHfield: geom with hfield type expected");
mjERROR("geom with hfield type expected");
}
// hfield id and dimensions
@@ -632,7 +632,7 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
const int* child = m->bvh_child + 2*bvhadr;
if (meshid == -1) {
mju_error("mju_rayTree: mesh id of geom %d is -1", meshid); // SHOULD NOT OCCUR
mjERROR("mesh id of geom %d is -1", meshid); // SHOULD NOT OCCUR
}
// initialize stack
@@ -709,7 +709,9 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
// add children to the stack
for (int i=0; i < 2; i++) {
if (child[2*node+i] != -1) {
if (nstack >= mjMAXTREEDEPTH) mju_error("BVH stack depth exceeded in geom %d.", id);
if (nstack >= mjMAXTREEDEPTH) {
mjERROR("BVH stack depth exceeded in geom %d.", id);
}
stack[nstack] = child[2*node+i];
nstack++;
}
@@ -724,7 +726,7 @@ mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
const mjtNum* pnt, const mjtNum* vec) {
// check geom type
if (m->geom_type[id] != mjGEOM_MESH) {
mju_error("mj_rayMesh: geom with mesh type expected");
mjERROR("geom with mesh type expected");
}
// bounding box test
@@ -760,7 +762,7 @@ mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
return ray_box(pos, mat, size, pnt, vec, NULL);
default:
mju_error("mju_rayGeom: unexpected geom type %d", geomtype);
mjERROR("unexpected geom type %d", geomtype);
return -1;
}
}
@@ -894,7 +896,7 @@ mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum
// check vector length
if (mju_norm3(vec) < mjMINVAL) {
mju_error("mj_ray: vector length is too small");
mjERROR("vector length is too small");
}
// clear result
@@ -934,7 +936,7 @@ void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
const mjtNum* ray_xmat, const mjtByte* geomgroup, mjtByte flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba, int* geom_eliminate) {
if (ray_xmat) {
mju_error("ray_xmat is currently unused, should be NULL");
mjERROR("ray_xmat is currently unused, should be NULL");
}
// compute eliminate flag for all geoms
@@ -1005,7 +1007,7 @@ void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
}
if (AABB[3]-AABB[1] > mjPI) { // SHOULD NOT OCCUR
mju_error("mj_ray: discontinuity in azimuth angle");
mjERROR("discontinuity in azimuth angle");
}
mju_copy(geom_ba+4*g, AABB, 4);
@@ -1021,7 +1023,7 @@ static mjtNum mju_singleRay(const mjModel* m, mjData* d, const mjtNum pnt[3], co
// check vector length
if (mju_norm3(vec) < mjMINVAL) {
mju_error("mj_ray: vector length is too small");
mjERROR("vector length is too small");
}
// clear result
src/engine/engine_resource.c
+3 -3
View File
@@ -53,7 +53,7 @@ mjResource* mju_openResource(const char* name, int default_provider) {
mjResource* resource = (mjResource*) mju_malloc(sizeof(mjResource));
const mjpResourceProvider* provider = NULL;
if (resource == NULL) {
mju_error("mju_openResource: could not allocate memory");
mjERROR("could not allocate memory");
return NULL;
}
@@ -61,7 +61,7 @@ mjResource* mju_openResource(const char* name, int default_provider) {
resource->name = mju_malloc(sizeof(char) * (strlen(name) + 1));
if (resource->name == NULL) {
mju_free(resource);
mju_error("mju_openResource: could not allocate memory");
mjERROR("could not allocate memory");
return NULL;
}
strcpy(resource->name, name);
@@ -249,7 +249,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
// allocate and read
void* buffer = mju_malloc(*filesize);
if (!buffer) {
mju_error("mjFileToMemory: could not allocate memory");
mjERROR("could not allocate memory");
}
size_t bytes_read = fread(buffer, 1, *filesize, fp);
src/engine/engine_sensor.c
+12 -12
View File
@@ -96,7 +96,7 @@ static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
// unknown datatype
else {
mju_error("Unknown datatype in sensor %d", i);
mjERROR("unknown datatype in sensor %d", i);
}
}
}
@@ -158,7 +158,7 @@ static void get_xpos_xmat(const mjData* d, int type, int id, int sensor_id,
*xmat = d->cam_xmat + 9*id;
break;
default:
mju_error("Invalid object type in sensor %d", sensor_id);
mjERROR("invalid object type in sensor %d", sensor_id);
}
}
@@ -182,7 +182,7 @@ static void get_xquat(const mjModel* m, const mjData* d, int type, int id, int s
mju_mulQuat(quat, d->xquat+4*m->cam_bodyid[id], m->cam_quat+4*id);
break;
default:
mju_error("Invalid object type in sensor %d", sensor_id);
mjERROR("invalid object type in sensor %d", sensor_id);
}
}
@@ -334,7 +334,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
break;
default:
mju_error("Invalid sensor type in POS stage, sensor %d", i);
mjERROR("invalid sensor type in POS stage, sensor %d", i);
}
}
}
@@ -356,12 +356,12 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if ((plugin->capabilityflags & mjPLUGIN_SENSOR) &&
(plugin->needstage == mjSTAGE_POS || plugin->needstage == mjSTAGE_NONE)) {
if (!plugin->compute) {
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_SENSOR);
}
@@ -515,7 +515,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
break;
default:
mju_error("Invalid type in VEL stage, sensor %d", i);
mjERROR("invalid type in VEL stage, sensor %d", i);
}
}
}
@@ -537,11 +537,11 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage == mjSTAGE_VEL) {
if (!plugin->compute) {
mju_error("`compute` is null for plugin at slot %d", slot);
mjERROR("`compute` is null for plugin at slot %d", slot);
}
if (subtreeVel == 0) {
// compute subtree_linvel, subtree_angmom
@@ -724,7 +724,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
break;
default:
mju_error("Invalid type in ACC stage, sensor %d", i);
mjERROR("invalid type in ACC stage, sensor %d", i);
}
}
}
@@ -746,11 +746,11 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage == mjSTAGE_ACC) {
if (!plugin->compute) {
mju_error("`compute` is null for plugin at slot %d", slot);
mjERROR("`compute` is null for plugin at slot %d", slot);
}
if (rnePost == 0) {
// compute cacc, cfrc_int, cfrc_ext
src/engine/engine_setconst.c
+1 -1
View File
@@ -436,7 +436,7 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
const mjLROpt* opt, char* error, int error_sz) {
// check index
if (index < 0 || index >= m->nu) {
mju_error("Invalid actuator index in mj_setLengthRange");
mjERROR("invalid actuator index");
}
// skip depending on mode and type
src/engine/engine_solver.c
+3 -3
View File
@@ -132,7 +132,7 @@ static void extractBlock(const mjModel* m, mjData* d, mjtNum* Ac,
// sanity check; SHOULD NOT OCCUR
if (k >= rownnz[start]) {
mju_error("Internal error in extractComponent");
mjERROR("internal error");
}
// copy rows
@@ -1384,7 +1384,7 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
// rank-defficient, SHOULD NOT OCCUR
if (rank != nv) {
mju_error("Rank-defficient Hessian in HessianDirect");
mjERROR("rank-defficient Hessian");
}
// compress layout of H
@@ -1396,7 +1396,7 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
ctx->nnz += ctx->rownnz[i];
}
if (ctx->nnz > nv*nv) { // SHOULD NOT OCCUR
mju_error("More nonzero values than elements in sparse direct-solver Hessian");
mjERROR("more nonzero values than elements in sparse direct-solver Hessian");
}
}
src/engine/engine_support.c
+11 -12
View File
@@ -107,7 +107,7 @@ static inline int mj_stateElemSize(const mjModel* m, mjtState spec) {
case mjSTATE_USERDATA: return m->nuserdata;
case mjSTATE_PLUGIN: return m->npluginstate;
default:
mju_error("mju_stateElementSize: invalid state element %u", spec);
mjERROR("invalid state element %u", spec);
return 0;
}
}
@@ -130,7 +130,7 @@ static inline mjtNum* mj_stateElemPtr(const mjModel* m, mjData* d, mjtState spec
case mjSTATE_USERDATA: return d->userdata;
case mjSTATE_PLUGIN: return d->plugin_state;
default:
mju_error("mju_stateElemPtr: invalid state element %u", spec);
mjERROR("invalid state element %u", spec);
return NULL;
}
}
@@ -146,7 +146,7 @@ static inline const mjtNum* mj_stateElemConstPtr(const mjModel* m, const mjData*
// get size of state specification
int mj_stateSize(const mjModel* m, unsigned int spec) {
if (spec >= (1<<mjNSTATE)) {
mju_error("mj_stateSize: invalid state spec %u >= 2^mjNSTATE", spec);
mjERROR("invalid state spec %u >= 2^mjNSTATE", spec);
}
int size = 0;
@@ -165,7 +165,7 @@ int mj_stateSize(const mjModel* m, unsigned int spec) {
// get state
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int spec) {
if (spec >= (1<<mjNSTATE)) {
mju_error("mj_getState: invalid state spec %u >= 2^mjNSTATE", spec);
mjERROR("invalid state spec %u >= 2^mjNSTATE", spec);
}
int adr = 0;
@@ -185,7 +185,7 @@ void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int
// set state
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int spec) {
if (spec >= (1<<mjNSTATE)) {
mju_error("mj_setState: invalid state spec %u >= 2^mjNSTATE", spec);
mjERROR("invalid state spec %u >= 2^mjNSTATE", spec);
}
int adr = 0;
@@ -383,7 +383,7 @@ void mj_jacSparse(const mjModel* m, const mjData* d,
// make sure we found it; SHOULD NOT OCCUR
if (chain[ci] != da) {
mju_error("dof index %d not found in chain", da);
mjERROR("dof index %d not found in chain", da);
}
// construct rotation jacobian
@@ -993,7 +993,7 @@ void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
// not found: error
if (adr >= end) {
mju_error("mj_addM sparse: dst row expected to be empty");
mjERROR("dst row expected to be empty");
}
}
}
@@ -1184,7 +1184,7 @@ void mj_applyFT(const mjModel* m, mjData* d,
// make sure body is in range
if (body < 0 || body >= m->nbody) {
mju_error("Invalid body %d in applyFT", body);
mjERROR("invalid body %d", body);
}
// compute Jacobians
@@ -1259,7 +1259,7 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
// object without spatial frame
else {
mju_error("Invalid object type %d in mj_objectVelocity", objtype);
mjERROR("invalid object type %d", objtype);
}
// transform velocity
@@ -1312,7 +1312,7 @@ void mj_objectAcceleration(const mjModel* m, const mjData* d,
// object without spatial frame
else {
mju_error("Invalid object type %d in mj_objectAcceleration", objtype);
mjERROR("invalid object type %d", objtype);
}
// transform com-based velocity to local frame
@@ -1514,10 +1514,9 @@ void mj_setTotalmass(mjModel* m, mjtNum newmass) {
// count warnings, print only the first time
void mj_warning(mjData* d, int warning, int info) {
// check type
if (warning < 0 || warning >= mjNWARNING) {
mju_error("Invalid warning type %d", warning);
mjERROR("invalid warning type %d", warning);
}
// save info (override previous)
src/engine/engine_util_errmem.c
+11 -6
View File
@@ -123,16 +123,11 @@ void mju_writeLog(const char* type, const char* msg) {
}
}
// write message to logfile and console, pause and exit
void mju_error(const char* msg, ...) {
void mju_error_v(const char* msg, va_list args) {
char errmsg[1000];
// Format msg into errmsg
va_list args;
va_start(args, msg);
vsnprintf(errmsg, mjSIZEOFARRAY(errmsg), msg, args);
va_end(args);
if (_mjPRIVATE_tls_error_fn) {
_mjPRIVATE_tls_error_fn(errmsg);
@@ -150,6 +145,16 @@ void mju_error(const char* msg, ...) {
}
// write message to logfile and console, pause and exit
void mju_error(const char* msg, ...) {
va_list args;
va_start(args, msg);
mju_error_v(msg, args);
va_end(args);
}
// write message to logfile and console
void mju_warning(const char* msg, ...) {
char wrnmsg[1000];
src/engine/engine_util_errmem.h
+41
View File
@@ -15,7 +15,9 @@
#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
#include <stdarg.h>
#include <stddef.h>
#include <stdio.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmacro.h>
@@ -53,6 +55,7 @@ MJAPI void _mjPRIVATE__set_tls_warning_fn(void (*h)(const char*));
// errors
MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
MJAPI void mju_error_v(const char* msg, va_list args);
MJAPI void mju_error_i(const char* msg, int i);
MJAPI void mju_error_s(const char* msg, const char* text);
@@ -64,6 +67,44 @@ MJAPI void mju_warning_s(const char* msg, const char* text);
// write [datetime, type: message] to MUJOCO_LOG.TXT
MJAPI void mju_writeLog(const char* type, const char* msg);
//------------------------------ internal error macros --------------------------------------------
// need at least c99 or c++11
#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || \
(defined(__cplusplus) && __cplusplus >= 201103L)
// macro to get the first argument
#define _GET_MSG(msg, ...) msg
// helper function for the mjERROR macro
// formats buf as '{prefix}: {msg}' and passes along to mju_error_v
static inline void _mju_error_prefix(char *buf, size_t nbuf, const char* prefix,
const char* msg, ...) mjPRINTFLIKE(4, 5);
static inline void _mju_error_prefix(char *buf, size_t nbuf, const char* prefix,
const char* msg, ...) {
snprintf(buf, nbuf, "%s: %s", prefix, msg);
va_list args;
va_start(args, msg);
mju_error_v(buf, args);
va_end(args);
}
// macro to get first argument
#define _GET_MSG(msg, ...) msg
// internal macro to prepend the calling function name to the error message
// standard support for variadic macros with zero arguments is only now
// supported in C23 and C++20 so we rely on a helper function to get around this
// in a portable way
#define mjERROR(...) { \
char _buf[sizeof(_GET_MSG(__VA_ARGS__)) + sizeof(__func__) + 1]; \
_mju_error_prefix(_buf, sizeof(_buf), __func__, __VA_ARGS__); \
}
#else
#define mjERROR mju_error
#endif // c99 or c++11
//------------------------------ malloc and free ---------------------------------------------------
src/engine/engine_util_misc.c
+1 -1
View File
@@ -287,7 +287,7 @@ mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
// check object type; SHOULD NOT OCCUR
if (type != mjWRAP_SPHERE && type != mjWRAP_CYLINDER) {
mju_error("mju_wrap: unknown wrapping object type %d", type);
mjERROR("unknown wrapping object type %d", type);
}
// map sites to wrap object's local frame
src/engine/engine_util_solve.c
+12 -13
View File
@@ -161,7 +161,7 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
// check
if (rownnz[r] == 0 || colind[rowadr[r]+rownnz[r]-1] != r) {
mju_error("Matrix must have non-zero diagonal in mju_cholFactorSparse");
mjERROR("matrix must have non-zero diagonal");
}
}
@@ -284,7 +284,7 @@ int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
// check for size change
if (new_nnz != nnz-1) {
mju_error("Varying sparsity pattern in mju_cholUpdateSparse");
mjERROR("varying sparsity pattern");
}
// update x: x(1:r-1) = c*x(1:r-1) - s*mat(r,1:r-1)
@@ -603,12 +603,12 @@ void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
// make sure ii is on diagonal
if (colind[ii] != i) {
mju_error("missing diagonal element in mju_factorLUSparse");
mjERROR("missing diagonal element");
}
// make sure diagonal is not too small
if (mju_abs(LU[ii]) < mjMINVAL) {
mju_error("diagonal element too small in mju_factorLUSparse");
mjERROR("diagonal element too small");
}
// rows j above i
@@ -642,13 +642,13 @@ void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
// only (i,k) non-zero
else {
mju_error("mju_factorLUSparse requires fill-in");
mjERROR("requires fill-in");
}
}
// make sure both rows fully processed
if (icnt != rowadr[i]+remaining[i] || jcnt != rowadr[j]+remaining[j]) {
mju_error("row processing incomplete in mju_factorLUSparse");
mjERROR("row processing incomplete");
}
}
}
@@ -657,7 +657,7 @@ void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
// make sure remaining points to diagonal
for (int i=0; i < n; i++) {
if (remaining[i] < 0 || colind[rowadr[i]+remaining[i]] != i) {
mju_error("unexpected sparse matrix structure in mju_factorLUSparse");
mjERROR("unexpected sparse matrix structure");
}
}
}
@@ -681,7 +681,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
// make sure j points to diagonal
if (colind[rowadr[i]+j] != i) {
mju_error("diagonal of U not reached in mju_factorLUSparse");
mjERROR("diagonal of U not reached");
}
}
@@ -699,7 +699,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
// make sure j points to diagonal
if (colind[rowadr[i]+j] != i) {
mju_error("diagonal of L not reached in mju_factorLUSparse");
mjERROR("diagonal of L not reached");
}
}
}
@@ -975,7 +975,7 @@ int mju_QCQP(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
// check size
if (n > 5) {
mju_error("mju_QCQP supports n up to 5");
mjERROR("n is only supported up to 5");
}
// scale A,b so that constraint becomes x'*x <= r*r
@@ -1151,12 +1151,12 @@ int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index, // outputs
// basic checks
if (n <= 0) {
mju_error("mju_boxQP: problem size n must be positive");
mjERROR("problem size n must be positive");
}
if (upper && lower) {
for (int i=0; i < n; i++) {
if (lower[i] >= upper[i]) {
mju_error("mju_boxQP: upper bounds must be stricly larger than lower bounds");
mjERROR("upper bounds must be stricly larger than lower bounds");
}
}
}
@@ -1390,4 +1390,3 @@ int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index, // outputs
// return nf or -1 if failure
return (status == mjBOXQP_NO_DESCENT || status == mjBOXQP_NOT_SPD) ? -1 : nfree;
}
src/engine/engine_util_spatial.c
+1 -1
View File
@@ -477,7 +477,7 @@ void mju_makeFrame(mjtNum frame[9]) {
// normalize xaxis
if (mju_normalize3(frame) < 0.5) {
mju_error("xaxis of contact frame undefined");
mjERROR("xaxis of contact frame undefined");
}
// if yaxis undefined, set yaxis to (0,1,0) if possible, otherwise (0,0,1)
src/engine/engine_vfs.c
+4 -4
View File
@@ -37,10 +37,10 @@ static void vfs_strippath(char* newname, const char* oldname) {
// check resulting length
if (sz-(i+1) >= mjMAXVFSNAME) {
mju_error("Filename too long in VFS");
mjERROR("filename too long");
}
if (sz-(i+1) <= 0) {
mju_error("Empty filename in VFS");
mjERROR("empty filename");
}
// copy
@@ -117,7 +117,7 @@ int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize) {
// check filesize
if (filesize <= 0) {
mju_error("mj_makeEmptyFileVFS expects positive filesize");
mjERROR("expects positive filesize");
}
// strip path
@@ -137,7 +137,7 @@ int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize) {
// allocate and clear
vfs->filedata[vfs->nfile] = mju_malloc(filesize);
if (!vfs->filedata[vfs->nfile]) {
mju_error("mj_makeEmptyFileVFS: could not allocate memory");
mjERROR("could not allocate memory");
}
memset(vfs->filedata[vfs->nfile], 0, filesize);
src/engine/engine_vis_init.c
+2 -2
View File
@@ -127,7 +127,7 @@ void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom) {
// check allocation
if (!scn->geoms || !scn->geomorder) {
mju_error("Could not allocate geom buffers");
mjERROR("could not allocate geom buffers");
}
}
@@ -169,7 +169,7 @@ void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom) {
!scn->skinvertnum ||
!scn->skinvert ||
!scn->skinnormal) {
mju_error("Could not allocate skin buffers");
mjERROR("could not allocate skin buffers");
}
// copy constant data
src/engine/engine_vis_interact.c
+9 -9
View File
@@ -38,7 +38,7 @@ void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
// check scale
if (scn->scale < mjMINVAL) {
mju_error("mjvScene scale too small in mjv_room2model");
mjERROR("mjvScene scale too small");
}
// enabled: transform
@@ -73,7 +73,7 @@ void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
// check scale
if (scn->scale < mjMINVAL) {
mju_error("mjvScene scale too small in mjv_model2room");
mjERROR("mjvScene scale too small");
}
// enabled: transform
@@ -105,7 +105,7 @@ void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSc
// check znear
if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
mju_error("mjvScene frustum_near too small in mjv_cameraInModel");
mjERROR("mjvScene frustum_near too small");
}
// clear results
@@ -178,7 +178,7 @@ void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSce
// check znear
if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
mju_error("mjvScene frustum_near too small in mjv_cameraInRoom");
mjERROR("mjvScene frustum_near too small");
}
// clear results
@@ -228,7 +228,7 @@ mjtNum mjv_frustumHeight(const mjvScene* scn) {
// check znear
if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
mju_error("mjvScene frustum_near too small in mjv_frustumHeight");
mjERROR("mjvScene frustum_near too small");
}
// add normalized height for left and right cameras
@@ -295,7 +295,7 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
break;
default:
mju_error("Unexpected mouse action %d in convert2D", action);
mjERROR("unexpected mouse action %d in convert2D", action);
}
// call 3D converter
@@ -347,7 +347,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
break;
default:
mju_error("Unexpected action %d in mjv_moveCamera", action);
mjERROR("unexpected action %d", action);
}
// clamp camera parameters
@@ -434,7 +434,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
break;
default:
mju_error("Unexpected mouse action %d in mjv_movePerturb", action);
mjERROR("unexpected mouse action %d", action);
}
}
@@ -510,7 +510,7 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
break;
default:
mju_error("Unexpected action %d in mjv_moveModel", action);
mjERROR("unexpected action %d", action);
}
}
src/engine/engine_vis_state.c
+3 -3
View File
@@ -118,7 +118,7 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
// should not occur
if (ptr - (char*)scnstate->buffer != scnstate->nbuffer) {
mju_error("Unexpected error: mjvSceneState buffer is not fully used");
mjERROR("mjvSceneState buffer is not fully used");
}
mjv_makeScene(m, &scnstate->plugincache, maxgeom);
@@ -236,7 +236,7 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
#define X(var)
#define XMJV(var) \
if (scnstate->model.var != m->var) { \
mju_error("m->%s changed", #var); \
mjERROR("m->%s changed", #var); \
}
MJMODEL_INTS
#undef XMJV
@@ -251,7 +251,7 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->visualize) {
plugin->visualize(m, d, opt, &scnstate->plugincache, i);
src/engine/engine_vis_visualize.c
+6 -6
View File
@@ -303,7 +303,7 @@ void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
if (type != mjGEOM_CAPSULE && type != mjGEOM_CYLINDER &&
type != mjGEOM_ARROW && type != mjGEOM_ARROW1 && type != mjGEOM_ARROW2
&& type != mjGEOM_LINE) {
mju_error("Invalid geom type %d for connector", type);
mjERROR("invalid geom type %d for connector", type);
}
// assign type
@@ -898,7 +898,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
break;
default:
mju_error("Unknown joint type %d in mjv_visualize", m->jnt_type[i]);
mjERROR("unknown joint type %d", m->jnt_type[i]);
}
f2f(thisgeom->rgba, m->vis.rgba.joint, 4);
@@ -1894,7 +1894,7 @@ void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn
// get id and check
int bid = cam->trackbodyid;
if (bid < 0 || bid >= m->nbody) {
mju_error("Track body id is outside valid range");
mjERROR("track body id is outside valid range");
}
// smooth tracking of subtree com
@@ -1923,7 +1923,7 @@ void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn
// get id and check
int cid = cam->fixedcamid;
if (cid < 0 || cid >= m->ncam) {
mju_error("Fixed camera id is outside valid range");
mjERROR("fixed camera id is outside valid range");
}
// get camera-specific ipd and fovy
@@ -1948,7 +1948,7 @@ void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn
break;
default:
mju_error("Unknown camera type in mjv_updateCamera");
mjERROR("unknown camera type");
}
// compute GL cameras
@@ -2124,7 +2124,7 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->visualize) {
plugin->visualize(m, d, opt, scn, i);