Move engine/engine_resource.{c,h} to user/user_resource.{c,h}.
PiperOrigin-RevId: 649628768 Change-Id: Id90c983cf70c0f92c3b033ac1b1654c53696955d
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
d029e4ff99
commit
c6fd002f87
@@ -72,9 +72,6 @@ target_link_libraries(engine_print_test fixture gmock)
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mujoco_test(engine_ray_test)
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target_link_libraries(engine_ray_test fixture gmock)
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mujoco_test(engine_resource_test)
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target_link_libraries(engine_resource_test fixture gmock)
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mujoco_test(engine_sensor_test)
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target_link_libraries(engine_sensor_test fixture gmock)
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@@ -1,364 +0,0 @@
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// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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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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// Tests for engine/engine_resource.c
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#include <array>
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#include <cstdint>
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#include <cstring>
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#include <ctime>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include "src/cc/array_safety.h"
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#include <mujoco/mjplugin.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_plugin.h"
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#include "src/engine/engine_resource.h"
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#include "src/engine/engine_util_misc.h"
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::HasSubstr;
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using ::testing::IsNull;
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using ::testing::NotNull;
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using ::testing::StrEq;
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using ResourceTest = MujocoTest;
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int open_nop(mjResource* resource) {
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return 1;
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}
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int open_str(mjResource* resource) {
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if (std::strcmp(resource->name, "str:file")) {
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return 0;
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}
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resource->data = mju_malloc(100*sizeof(char));
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std::strcpy((char*) resource->data, "Hello World");
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return 1;
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}
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int read_nop(mjResource* resource, const void** buffer) {
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return 0;
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}
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int read_str(mjResource* resource, const void** buffer) {
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*buffer = resource->data;
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return std::strlen((const char*) resource->data) + 1;
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}
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void close_nop(mjResource* resource) {
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}
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void close_str(mjResource* resource) {
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mju_free(resource->data);
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}
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TEST_F(ResourceTest, RegisterProviderSuccess) {
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mjpResourceProvider provider = {
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"my-prefix.123+45", open_nop, read_nop, close_nop
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};
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int count1 = mjp_resourceProviderCount();
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int i = mjp_registerResourceProvider(&provider);
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int count2 = mjp_resourceProviderCount();
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EXPECT_GT(i, 0);
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EXPECT_EQ(count2 - count1, 1);
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}
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TEST_F(ResourceTest, RegisterProviderMultipleSuccess) {
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mjpResourceProvider provider = {
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"my-prefix.123+44", open_nop, read_nop, close_nop
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};
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mjpResourceProvider provider2 = {
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"my-prefix.123+46", open_nop, read_nop, close_nop
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};
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mjpResourceProvider provider3 = {
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"my-prefix.123+41", open_nop, read_nop, close_nop
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};
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int count1 = mjp_resourceProviderCount();
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int i = mjp_registerResourceProvider(&provider);
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int i2 = mjp_registerResourceProvider(&provider2);
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int i3 = mjp_registerResourceProvider(&provider3);
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int count2 = mjp_resourceProviderCount();
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EXPECT_GT(i, 0);
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EXPECT_GT(i2, 0);
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EXPECT_GT(i3, 0);
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EXPECT_EQ(count2 - count1, 3);
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}
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TEST_F(ResourceTest, RegisterProviderMissingCallbacks) {
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mjpResourceProvider provider = {
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"myprefix"
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};
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// install warning handler
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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int i = mjp_registerResourceProvider(&provider);
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// warning message related to missing callbacks
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EXPECT_THAT(warning, HasSubstr("callback"));
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EXPECT_LT(i, 1);
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}
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TEST_F(ResourceTest, RegisterProviderMissingPrefix) {
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mjpResourceProvider provider = {
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"", open_nop, read_nop, close_nop
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};
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// install warning handler
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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int i = mjp_registerResourceProvider(&provider);
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// warning message related to missing prefix
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EXPECT_THAT(warning, HasSubstr("prefix"));
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EXPECT_LT(i, 1);
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}
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TEST_F(ResourceTest, RegisterProviderInvalidPrefix1) {
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mjpResourceProvider provider = {
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"1invalid", open_nop, read_nop, close_nop
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};
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// install warning handler
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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int i = mjp_registerResourceProvider(&provider);
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// warning message related to missing prefix
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EXPECT_THAT(warning, HasSubstr("prefix"));
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EXPECT_LT(i, 1);
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}
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TEST_F(ResourceTest, RegisterProviderInvalidPrefix2) {
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mjpResourceProvider provider = {
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"invalid:", open_nop, read_nop, close_nop
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};
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// install warning handler
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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int i = mjp_registerResourceProvider(&provider);
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// warning message related to missing prefix
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EXPECT_THAT(warning, HasSubstr("prefix"));
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EXPECT_LT(i, 1);
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}
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TEST_F(ResourceTest, RegisterProviderSame) {
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mjpResourceProvider provider = {
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"prefix", open_nop, read_nop, close_nop
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};
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mjpResourceProvider provider2 = {
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"prefix", open_nop, read_nop, close_nop
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};
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int i1 = mjp_registerResourceProvider(&provider);
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int count1 = mjp_resourceProviderCount();
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int i2 = mjp_registerResourceProvider(&provider2);
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int count2 = mjp_resourceProviderCount();
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EXPECT_EQ(i1, i2);
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EXPECT_EQ(count1, count2);
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}
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TEST_F(ResourceTest, RegisterProviderSameCase) {
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mjpResourceProvider provider = {
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"prefix", open_nop, read_nop, close_nop
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};
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mjpResourceProvider provider2 = {
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"PREFIX", open_nop, read_nop, close_nop
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};
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int i1 = mjp_registerResourceProvider(&provider);
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int count1 = mjp_resourceProviderCount();
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int i2 = mjp_registerResourceProvider(&provider2);
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int count2 = mjp_resourceProviderCount();
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EXPECT_EQ(i1, i2);
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EXPECT_EQ(count1, count2);
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}
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TEST_F(ResourceTest, GeneralTest) {
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mjpResourceProvider provider = {
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"str", open_str, read_str, close_str
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};
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// register resource provider
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int i = mjp_registerResourceProvider(&provider);
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EXPECT_GT(i, 0);
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// open resource
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mjResource* resource = mju_openResource("str:file", nullptr, 0);
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ASSERT_THAT(resource, NotNull());
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const char* buffer = NULL;
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int bytes = mju_readResource(resource, (const void**) &buffer);
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EXPECT_EQ(bytes, std::strlen("Hello World") + 1);
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EXPECT_THAT(buffer, StrEq("Hello World"));
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mju_closeResource(resource);
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}
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TEST_F(ResourceTest, GeneralFailureTest) {
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mjpResourceProvider provider = {
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"str", open_str, read_str, close_str
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};
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// register resource provider
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int i = mjp_registerResourceProvider(&provider);
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EXPECT_GT(i, 0);
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static std::array<char, 1024> error;
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// open resource
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mjResource* resource = mju_openResource("str:notfound",
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error.data(), error.size());
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ASSERT_THAT(resource, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("could not open"));
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}
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TEST_F(ResourceTest, NameWithValidPrefix) {
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mjpResourceProvider provider = {
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"nop", open_nop, read_nop, close_nop
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};
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// register resource provider
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int i = mjp_registerResourceProvider(&provider);
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EXPECT_GT(i, 0);
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// install warning handler
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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// open resource
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mjResource* resource = mju_openResource("nop:found", nullptr, 0);
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ASSERT_THAT(resource, NotNull());
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mju_closeResource(resource);
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}
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TEST_F(ResourceTest, NameWithUpperCasePrefix) {
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mjpResourceProvider provider = {
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"nop", open_nop, read_nop, close_nop,
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};
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// register resource provider
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int i = mjp_registerResourceProvider(&provider);
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EXPECT_GT(i, 0);
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// install warning handler
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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// open resource
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mjResource* resource = mju_openResource("NOP:found", nullptr, 0);
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ASSERT_THAT(resource, NotNull());
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mju_closeResource(resource);
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}
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TEST_F(ResourceTest, NameWithInvalidPrefix) {
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mjpResourceProvider provider = {
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"nop", open_nop, read_nop, close_nop
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};
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// register resource provider
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int i = mjp_registerResourceProvider(&provider);
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EXPECT_GT(i, 0);
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// install warning handler
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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// open resource
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mjResource* resource = mju_openResource("nopfound", nullptr, 0);
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ASSERT_THAT(resource, IsNull());
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}
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TEST_F(ResourceTest, OSFilesystemTimestamps) {
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time_t t;
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// some random file
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const char* const file = "engine/testdata/collision_box/boxbox_deep.xml";
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const std::string xml_path = GetTestDataFilePath(file);
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mjResource* resource = mju_openResource(xml_path.c_str(), nullptr, 0);
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mju_decodeBase64((uint8_t*) &t, resource->timestamp);
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// equal timestamps
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EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
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std::array<char, 512> test_timestamp;
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// older resource timestamp
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t++;
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mju_encodeBase64(test_timestamp.data(), (uint8_t*) &t, sizeof(time_t));
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EXPECT_EQ(mju_isModifiedResource(resource, test_timestamp.data()), -1);
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// newer resource timestamp
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t -= 2;
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mju_encodeBase64(test_timestamp.data(), (uint8_t*) &t, sizeof(time_t));
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EXPECT_EQ(mju_isModifiedResource(resource, test_timestamp.data()), 1);
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mju_closeResource(resource);
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}
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} // namespace
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} // namespace mujoco
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