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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_support.c
+11 -12
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@@ -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)