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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
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src/engine/engine_io.c
+30 -30
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@@ -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 {