Check mjs_getName return value in XML parser. Fixes #2898.
PiperOrigin-RevId: 819351410 Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
67960543a0
commit
b6f25ca623
@@ -279,6 +279,10 @@ mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
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// get error message from model
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const char* mjs_getError(mjSpec* s) {
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if (!s) {
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mju_error("spec is null");
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return nullptr;
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}
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mjCModel* modelC = static_cast<mjCModel*>(s->element);
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return modelC->GetError().message;
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}
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+50
-29
@@ -27,6 +27,7 @@
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#include <filesystem> // NOLINT(build/c++17)
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#include <functional>
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#include <mutex>
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#include <sstream>
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#include <string>
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#include <string_view>
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#include <thread>
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@@ -4999,78 +5000,98 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
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std::string mjCModel::PrintTree(const mjCBody* body, std::string indent) {
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std::string tree;
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tree += indent + "<body>\n";
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indent += " ";
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static void PrintIndent(std::stringstream& ss, int depth) {
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// A static string of spaces, created only once during the program's lifetime.
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static const std::string spaces(1024, ' ');
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if (depth > 0) {
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// Write 'depth * 2' spaces directly to the stringstream
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// without creating any new std::string objects.
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ss.write(spaces.c_str(), std::min((size_t)depth * 2, spaces.length()));
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}
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}
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void mjCModel::PrintTree(std::stringstream& tree, const mjCBody* body, int depth) {
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if (depth == 1024) {
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throw mjCError(body, "depth limit exceeded in signature computation");
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}
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PrintIndent(tree, depth);
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tree << "<body>\n";
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for (const auto& joint : body->joints) {
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tree += indent + "<joint>" + std::to_string(joint->nq()) + "</joint>\n";
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PrintIndent(tree, depth + 1);
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tree << "<joint>" << std::to_string(joint->nq()) << "</joint>\n";
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}
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for (uint64_t i = 0; i < body->geoms.size(); ++i) {
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tree += indent + "<geom/>\n";
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PrintIndent(tree, depth + 1);
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tree << "<geom/>\n";
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}
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for (uint64_t i = 0; i < body->sites.size(); ++i) {
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tree += indent + "<site/>\n";
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PrintIndent(tree, depth + 1);
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tree << "<site/>\n";
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}
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for (uint64_t i = 0; i < body->cameras.size(); ++i) {
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tree += indent + "<camera/>\n";
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PrintIndent(tree, depth + 1);
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tree << "<camera/>\n";
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}
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for (uint64_t i = 0; i < body->lights.size(); ++i) {
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tree += indent + "<light/>\n";
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PrintIndent(tree, depth + 1);
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tree << "<light/>\n";
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}
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for (uint64_t i = 0; i < body->bodies.size(); ++i) {
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tree += PrintTree(body->bodies[i], indent);
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PrintTree(tree, body->bodies[i], depth + 1);
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}
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indent.pop_back();
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indent.pop_back();
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tree += indent + "</body>\n";
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return tree;
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PrintIndent(tree, depth);
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tree << "</body>\n";
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}
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uint64_t mjCModel::Signature() {
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std::string tree = "\n" + PrintTree(bodies_[0]);
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std::stringstream tree;
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tree << "\n";
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PrintTree(tree, bodies_[0]);
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for (unsigned int i = 0; i < flexes_.size(); ++i) {
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tree += "<flex/>\n";
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tree << "<flex/>\n";
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}
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for (unsigned int i = 0; i < meshes_.size(); ++i) {
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tree += "<mesh/>\n";
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tree << "<mesh/>\n";
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}
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for (unsigned int i = 0; i < skins_.size(); ++i) {
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tree += "<skin/>\n";
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tree << "<skin/>\n";
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}
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for (unsigned int i = 0; i < hfields_.size(); ++i) {
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tree += "<heightfield/>\n";
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tree << "<heightfield/>\n";
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}
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for (unsigned int i = 0; i < textures_.size(); ++i) {
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tree += "<texture/>\n";
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tree << "<texture/>\n";
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}
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for (unsigned int i = 0; i < materials_.size(); ++i) {
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tree += "<material/>\n";
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tree << "<material/>\n";
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}
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for (unsigned int i = 0; i < pairs_.size(); ++i) {
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tree += "<pair/>\n";
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tree << "<pair/>\n";
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}
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for (unsigned int i = 0; i < excludes_.size(); ++i) {
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tree += "<exclude/>\n";
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tree << "<exclude/>\n";
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}
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for (unsigned int i = 1; i < equalities_.size(); ++i) {
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tree += "<equality/>\n";
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tree << "<equality/>\n";
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}
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for (unsigned int i = 0; i < tendons_.size(); ++i) {
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tree += "<tendon/>\n";
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tree << "<tendon/>\n";
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}
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for (unsigned int i = 0; i < actuators_.size(); ++i) {
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tree += "<actuator/>\n";
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tree << "<actuator/>\n";
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}
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for (unsigned int i = 0; i < sensors_.size(); ++i) {
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tree += "<sensor>" + std::to_string(sensors_[i]->spec.type) + "<sensor/>\n";
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tree << "<sensor>" << std::to_string(sensors_[i]->spec.type) << "<sensor/>\n";
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}
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for (unsigned int i = 0; i < keys_.size(); ++i) {
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tree += "<key/>\n";
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tree << "<key/>\n";
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}
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return mj_hashString(tree.c_str(), UINT64_MAX);
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return mj_hashString(tree.str().c_str(), UINT64_MAX);
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}
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@@ -19,6 +19,7 @@
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#include <cstdint>
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#include <functional>
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#include <map>
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#include <sstream>
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#include <string>
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#include <string_view>
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#include <unordered_map>
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@@ -456,7 +457,7 @@ class mjCModel : public mjCModel_, private mjSpec {
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const std::vector<T*>& list);
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// print the tree of a body
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std::string PrintTree(const mjCBody* body, std::string indent = "");
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void PrintTree(std::stringstream& tree, const mjCBody* body, int depth = 0);
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// generate a signature for the model
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uint64_t Signature();
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