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Migrate tests to use MockWarningHandler for warning interception.

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PiperOrigin-RevId: 933656759
Change-Id: Ia21514c302799034bf598445933dd90427284737
This commit is contained in:
Yuval Tassa
2026-06-17 05:06:15 -07:00
committed by Copybara-Service
parent 38c3388046
commit cedaa47d61
9 changed files with 72 additions and 122 deletions
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test/engine/engine_forward_test.cc
+14 -17
View File
@@ -31,7 +31,6 @@
#include <mujoco/mjtype.h>
#include <mujoco/mujoco.h>
#include <mujoco/mjxmacro.h>
#include "src/cc/array_safety.h"
#include "src/engine/engine_callback.h"
#include "src/engine/engine_core_util.h"
#include "src/engine/engine_io.h"
@@ -68,10 +67,11 @@ static const char* const kTendonForceClamp =
using ::testing::Pointwise;
using ::testing::Ne;
using ::testing::HasSubstr;
using ::testing::NotNull;
using ::testing::_;
using ::testing::Gt;
using ::testing::HasSubstr;
using ::testing::Ne;
using ::testing::NotNull;
// --------------------------- activation limits -------------------------------
@@ -997,32 +997,28 @@ TEST_F(ForwardTest, ControlClamping) {
// data->ctrl[1] remains pristine
EXPECT_EQ(data->ctrl[1], 2);
// install warning handler
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
MockWarningHandler warning_handler;
// for the unclamped actuator, huge raises warning
warning_handler.ExpectWarnings(
"Nan, Inf or huge value in CTRL at ACTUATOR 0");
data->ctrl[0] = 10*mjMAXVAL;
mj_forward(model, data);
EXPECT_THAT(warning,
HasSubstr("Nan, Inf or huge value in CTRL at ACTUATOR 0"));
testing::Mock::VerifyAndClearExpectations(&warning_handler);
// for the clamped actuator, huge does not raise warning
EXPECT_CALL(warning_handler, Warn(_)).Times(0);
mj_resetData(model, data);
warning[0] = '\0';
data->ctrl[1] = 10*mjMAXVAL;
mj_forward(model, data);
EXPECT_EQ(warning[0], '\0');
testing::Mock::VerifyAndClearExpectations(&warning_handler);
// for the clamped actuator, NaN raises warning
warning_handler.ExpectWarnings(
"Nan, Inf or huge value in CTRL at ACTUATOR 1");
mj_resetData(model, data);
data->ctrl[1] = std::numeric_limits<double>::quiet_NaN();
mj_forward(model, data);
EXPECT_THAT(warning,
HasSubstr("Nan, Inf or huge value in CTRL at ACTUATOR 1"));
mj_deleteData(data);
mj_deleteModel(model);
@@ -2865,7 +2861,8 @@ TEST_F(ActEarlyTest, RemovesOneStepDelay) {
mj_step(model, data);
for (int j = 0; j < model->nu / 2; j++) {
// this is true for torque actuators
EXPECT_NEAR(last_qfrc[2 * j], data->qfrc_actuator[2 * j + 1], MjTol(1e-3, 1e-1))
EXPECT_NEAR(last_qfrc[2 * j], data->qfrc_actuator[2 * j + 1],
MjTol(1e-3, 1e-1))
<< "there should be a 1 step delay between qfrc for "
<< mj_id2name(model, mjOBJ_ACTUATOR, 2 * j);
}