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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
src/engine/engine_sensor.c
+12 -12
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@@ -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