Change compile sample to use mj_parse and mj_encode as input/output.
There is a single remaining exception for mjb as it's a special case by bypassing mjSpec. PiperOrigin-RevId: 943556676 Change-Id: Iaf480ea6d2d42a6007b35c23435b25c9eb24ead0
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
19e175c063
commit
ae58855c15
+81
-111
@@ -12,42 +12,37 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <chrono>
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#include <cctype>
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#include <chrono>
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#include <cstddef>
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <iostream>
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#include <string_view>
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#include <mujoco/mujoco.h>
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// help
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static constexpr char helpstring[] =
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"\n Usage: compile infile [outfile]\n"
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" infile can be in mjcf, urdf, mjb format\n"
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" outfile can be in mjcf, mjb, txt format\n\n"
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" if infile is mjcf or urdf and outfile is omitted, a detailed\n"
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" timing breakdown is printed for two compilations (cold and warm cache)\n\n"
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" Example: compile model.xml [model.mjb]\n";
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// timer (seconds)
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double gettm(void) {
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using Clock = std::chrono::steady_clock;
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using Seconds = std::chrono::duration<double>;
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static const Clock::time_point tm_start = Clock::now();
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return Seconds(Clock::now() - tm_start).count();
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}
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static constexpr char kHelp[] =
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"\n Usage: compile infile [outfile]\n"
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" infile can be in any format with a registered decoder (e.g. mjcf, "
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"urdf) or mjb\n"
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" outfile can be in mjcf, mjb, txt format, or empty\n\n"
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" if outfile is empty, compilation will be "
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"timed twice to measure the impact of caching\n\n"
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" Example: compile model.xml [model.mjb]\n";
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// deallocate and print message
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int finish(const char* msg = 0, int exitcode = EXIT_SUCCESS, mjModel* m = 0) {
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int finish(const char* msg = 0, int exitcode = EXIT_SUCCESS, mjModel* m = 0,
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mjVFS* vfs = 0) {
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// deallocated everything
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if (m) {
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mj_deleteModel(m);
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}
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if (vfs) {
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mj_deleteVFS(vfs);
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}
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// print message
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if (msg) {
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@@ -57,52 +52,20 @@ int finish(const char* msg = 0, int exitcode = EXIT_SUCCESS, mjModel* m = 0) {
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return exitcode;
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}
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// check if filename has extension (case-insensitive)
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bool HasExtension(std::string_view filename, std::string_view ext) {
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if (filename.length() < ext.length()) return false;
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// possible file types
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enum {
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typeUNKNOWN = 0,
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typeXML,
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typeMJB,
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typeTXT,
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typeNONE
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};
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// determine file type
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int filetype(const char* filename) {
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// convert to lower case for string comparison
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char lower[1000];
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std::size_t i=0;
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while (i<std::strlen(filename) && i<999) {
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lower[i] = (char)tolower(filename[i]);
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i++;
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}
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lower[i] = 0;
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// find last dot
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int dot = (int)std::strlen(lower);
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while (dot>=0 && lower[dot]!='.') {
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dot--;
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}
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// no dot found
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if (dot<0) {
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return typeUNKNOWN;
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}
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// check extension
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if (!std::strcmp(lower+dot, ".xml") || !std::strcmp(lower+dot, ".urdf")) {
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return typeXML;
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} else if (!std::strcmp(lower+dot, ".mjb")) {
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return typeMJB;
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} else if (!std::strcmp(lower+dot, ".txt")) {
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return typeTXT;
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} else {
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return typeUNKNOWN;
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std::string_view file_ext = filename.substr(filename.length() - ext.length());
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for (std::size_t i = 0; i < ext.length(); ++i) {
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if (std::tolower(static_cast<unsigned char>(file_ext[i])) !=
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std::tolower(static_cast<unsigned char>(ext[i]))) {
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return false;
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}
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}
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return true;
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}
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// main function
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int main(int argc, char** argv) {
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@@ -111,34 +74,33 @@ int main(int argc, char** argv) {
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char error[1000];
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// print help if arguments are missing
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if (argc!=3 && argc!=2) {
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return finish(helpstring, EXIT_FAILURE);
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if (argc != 3 && argc != 2) {
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return finish(kHelp, EXIT_FAILURE);
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}
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// determine file types
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int type1 = filetype(argv[1]);
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int type2 = argc==2 ? typeNONE : filetype(argv[2]);
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const bool is_mjb = HasExtension(argv[1], ".mjb");
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// check types
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if (type1 == typeUNKNOWN || type1 == typeTXT ||
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type2 == typeUNKNOWN || (type1 == typeMJB && type2 == typeXML)) {
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return finish("Illegal combination of file formats", EXIT_FAILURE);
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if (is_mjb && argc == 3 && HasExtension(argv[2], ".xml")) {
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return finish("Illegal combination: cannot save binary model to XML",
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EXIT_FAILURE);
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}
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// check if output file exists
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std::FILE* fp = std::fopen(argv[2], "r");
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if (fp) {
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std::cout << "Output file already exists, overwrite? (Y/n) ";
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char c;
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std::cin >> c;
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if (c!='y' && c!='Y') {
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if (argc == 3) {
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std::FILE* fp = std::fopen(argv[2], "r");
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if (fp) {
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std::fclose(fp);
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return finish();
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std::cout << "Output file already exists, overwrite? (Y/n) ";
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char c;
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std::cin >> c;
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if (c != 'y' && c != 'Y') {
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return finish();
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}
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}
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}
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// enable compile timing diagnostics
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if (type2 == typeNONE) {
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if (argc == 2) {
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mjLogConfig config = mju_getLogConfig();
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config.logfile[0] = '\0';
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config.topics |= (1 << (mjTOPIC_TIME_CMP - 1));
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@@ -146,50 +108,58 @@ int main(int argc, char** argv) {
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}
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// load model
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mjSpec* s = nullptr;
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if (type1==typeXML) {
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s = mj_parseXML(argv[1], 0, error, 1000);
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if (!s) {
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return finish(error, EXIT_FAILURE);
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}
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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mjSpec* spec = nullptr;
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if (type2 == typeNONE) {
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std::cout << "Compile 1 (cold cache)\n";
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}
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m = mj_compile(s, 0);
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if (is_mjb) {
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m = mj_loadModel(argv[1], &vfs);
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if (!m) {
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mj_deleteSpec(s);
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return finish("Could not compile model", EXIT_FAILURE);
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}
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if (type2 == typeNONE) {
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mj_deleteModel(m);
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std::cout << "Compile 2 (warm cache)\n";
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m = mj_compile(s, 0);
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return finish("Could not load binary model", EXIT_FAILURE, nullptr, &vfs);
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}
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} else {
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m = mj_loadModel(argv[1], 0);
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spec = mj_parse(argv[1], nullptr, &vfs, error, 1000);
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if (!spec) {
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return finish(error, EXIT_FAILURE, nullptr, &vfs);
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}
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if (argc == 2) {
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std::cout << "Compile 1 (cold cache)\n";
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}
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m = mj_compile(spec, &vfs);
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if (!m) {
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auto err_msg = mjs_getError(spec);
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mj_deleteSpec(spec);
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return finish(err_msg, EXIT_FAILURE, nullptr, &vfs);
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}
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if (argc == 2) {
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mj_deleteModel(m);
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std::cout << "Compile 2 (warm cache)\n";
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m = mj_compile(spec, &vfs);
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}
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}
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// check error
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if (!m) {
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if (s) mj_deleteSpec(s);
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return finish("Could not load model", EXIT_FAILURE);
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if (spec) {
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auto err_msg = mjs_getError(spec);
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mj_deleteSpec(spec);
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return finish(err_msg, EXIT_FAILURE, nullptr, &vfs);
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} else {
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return finish("Could not load model", EXIT_FAILURE, nullptr, &vfs);
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}
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}
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// save model
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if (type2 == typeXML) {
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if (!mj_saveLastXML(argv[2], m, error, 1000)) {
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if (s) mj_deleteSpec(s);
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return finish(error, EXIT_FAILURE, m);
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// encode output
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if (argc == 3) {
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if (mj_encode(spec, m, argv[2], nullptr, &vfs, error, 1000) < 0) {
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if (spec) mj_deleteSpec(spec);
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return finish(error, EXIT_FAILURE, m, &vfs);
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}
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} else if (type2 == typeMJB) {
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mj_saveModel(m, argv[2], 0, 0);
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} else if (type2 == typeTXT) {
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mj_printModel(m, argv[2]);
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}
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// finalize
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if (s) mj_deleteSpec(s);
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return finish("Done.", EXIT_SUCCESS, m);
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if (spec) mj_deleteSpec(spec);
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return finish("Done.", EXIT_SUCCESS, m, &vfs);
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}
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