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Use _Generic instead of string comparisons for code that depends on field type.

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This will allow us to add fields that can't be cast to int or double, without breaking print.

PiperOrigin-RevId: 456005913
Change-Id: I1fccfd11466f4745f69172af0ae61be07642927c
This commit is contained in:
Nimrod Gileadi
2022-06-20 00:02:31 -07:00
committed by Copybara-Service
parent 37fe45d41e
commit b1faec1dc2
1 changed files with 26 additions and 16 deletions
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src/engine/engine_print.c
+26 -16
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@@ -306,17 +306,23 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// note that comparison is based on the integer address, not its value
const int* object_class;
#define X( type, name, num, sz ) \
if (&m->num == object_class && (strncmp(#name, "name_", 5)!=0) && sz) { \
fprintf(fp, " "); \
fprintf(fp, NAME_FORMAT, #name); \
for (int j=0; j < sz; j++) { \
((strcmp(#type, "mjtNum") == 0) || (strcmp(#type, "float") == 0)) ? \
(fprintf(fp, float_format, (mjtNum)m->name[sz*i+j]), \
fprintf(fp, " ")) : \
fprintf(fp, INT_FORMAT " ", (int)m->name[sz*i+j]); \
} \
fprintf(fp, "\n"); \
#define X(type, name, num, sz) \
if (&m->num == object_class && (strncmp(#name, "name_", 5) != 0) && sz) { \
const char* format = _Generic(*m->name, \
double: float_format, \
float: float_format, \
int: INT_FORMAT, \
mjtByte: INT_FORMAT, \
default: NULL); \
if (format) { \
fprintf(fp, " "); \
fprintf(fp, NAME_FORMAT, #name); \
for (int j = 0; j < sz; j++) { \
fprintf(fp, format, m->name[sz * i + j]); \
fprintf(fp, " "); \
} \
fprintf(fp, "\n"); \
} \
}
// bodies
@@ -714,11 +720,15 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// ---------------------------------- print mjData fields
fprintf(fp, "SIZES\n");
#define X( type, name ) \
if(strcmp(#type, "int")==0) { \
fprintf(fp, " "); \
fprintf(fp, NAME_FORMAT, #name); \
fprintf(fp, INT_FORMAT "\n", (int)d->name); \
#define X(type, name) \
{ \
const char* format = _Generic(d->name, int : INT_FORMAT, default : NULL); \
if (format) { \
fprintf(fp, " "); \
fprintf(fp, NAME_FORMAT, #name); \
fprintf(fp, format, d->name); \
fprintf(fp, "\n"); \
} \
}
MJDATA_SCALAR