Migrate tests to use MockWarningHandler for warning interception.

PiperOrigin-RevId: 933656759
Change-Id: Ia21514c302799034bf598445933dd90427284737

test/user/user_api_test.cc

@@ -24,9 +24,9 @@
 #include <string>
 #include <vector>
 
+#include <absl/strings/str_format.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include "src/cc/array_safety.h"
 #include <mujoco/mujoco.h>
 #include <mujoco/mjspec.h>
 #include <mujoco/mjplugin.h>
@@ -38,9 +38,8 @@ namespace mujoco {
 namespace {
 
 using ::testing::HasSubstr;
-using ::testing::NotNull;
 using ::testing::IsNull;
-
+using ::testing::NotNull;
 
 // -------------------------- test model manipulation  -------------------------
 
@@ -243,7 +242,8 @@ int open_mock(mjResource* resource) {
   </mujoco>
   )";
   resource->data = mju_malloc(sizeof(parent_xml));
-  std::strcpy((char*)resource->data, parent_xml);
+  absl::SNPrintF(static_cast<char*>(resource->data), sizeof(parent_xml), "%s",
+                 parent_xml);
   return 1;
 }
 
@@ -2668,6 +2668,12 @@ void AttachNestedKeyframe(bool compile) {
   // compile required before further attachment
   mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
 
+  // check warning is issued, empty for a compiled model
+  MockWarningHandler warning_handler;
+  if (!compile) {
+    warning_handler.ExpectWarnings("model has pending keyframes");
+  }
+
   // attach child to parent
   mjs_attach(mjs_findFrame(parent, "frame")->element,
              mjs_findBody(child, "body")->element, "child-", "");
@@ -2679,7 +2685,6 @@ void AttachNestedKeyframe(bool compile) {
     EXPECT_THAT(mjs_getWarning(parent, 0),
                 HasSubstr("model has pending keyframes"));
   }
-
   // compare models
   mjtNum tol = 0;
   std::string field = "";

test/user/user_mesh_test.cc

@@ -30,7 +30,6 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjtype.h>
 #include <mujoco/mujoco.h>
-#include "src/cc/array_safety.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -1310,11 +1309,8 @@ TEST_F(MjCMeshTest, NaNConvexHullDisallowed) {
     </asset>
   </mujoco>
     )";
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings();
   std::array<char, 1024> error;
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   EXPECT_THAT(model, testing::IsNull());

test/user/user_resource_test.cc

@@ -24,7 +24,7 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include "src/cc/array_safety.h"
+#include <absl/strings/str_format.h>
 #include <mujoco/mjplugin.h>
 #include <mujoco/mujoco.h>
 #include "src/engine/engine_plugin.h"
@@ -51,8 +51,9 @@ int open_str(mjResource* resource) {
     return 0;
   }
 
-  resource->data = mju_malloc(100*sizeof(char));
-  std::strcpy((char*) resource->data, "Hello World");
+  const std::size_t kBufferSize = 100;
+  resource->data = mju_malloc(kBufferSize * sizeof(char));
+  absl::SNPrintF((char*) resource->data, kBufferSize, "Hello World");
   return 1;
 }
 
@@ -128,17 +129,10 @@ TEST_F(ResourceTest, RegisterProviderMissingCallbacks) {
       .prefix = "myprefix",
   };
 
-  // install warning handler
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings("callback");
 
   int i = mjp_registerResourceProvider(&provider);
-
-  // warning message related to missing callbacks
-  EXPECT_THAT(warning, HasSubstr("callback"));
   EXPECT_LT(i, 1);
 }
 
@@ -150,17 +144,10 @@ TEST_F(ResourceTest, RegisterProviderMissingPrefix) {
       .close = close_nop,
   };
 
-  // install warning handler
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings("prefix");
 
   int i = mjp_registerResourceProvider(&provider);
-
-  // warning message related to missing prefix
-  EXPECT_THAT(warning, HasSubstr("prefix"));
   EXPECT_LT(i, 1);
 }
 
@@ -172,17 +159,10 @@ TEST_F(ResourceTest, RegisterProviderInvalidPrefix1) {
       .close = close_nop,
   };
 
-  // install warning handler
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings("prefix");
 
   int i = mjp_registerResourceProvider(&provider);
-
-  // warning message related to missing prefix
-  EXPECT_THAT(warning, HasSubstr("prefix"));
   EXPECT_LT(i, 1);
 }
 
@@ -194,17 +174,10 @@ TEST_F(ResourceTest, RegisterProviderInvalidPrefix2) {
       .close = close_nop,
   };
 
-  // install warning handler
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings("prefix");
 
   int i = mjp_registerResourceProvider(&provider);
-
-  // warning message related to missing prefix
-  EXPECT_THAT(warning, HasSubstr("prefix"));
   EXPECT_LT(i, 1);
 }
 
@@ -316,13 +289,8 @@ TEST_F(ResourceTest, NameWithValidPrefix) {
   int i = mjp_registerResourceProvider(&provider);
   EXPECT_GT(i, 0);
 
-
-  // install warning handler
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings();
 
   // open resource
   mjResource* resource = mju_openResource("", "nop:found", nullptr, nullptr, 0);
@@ -342,13 +310,8 @@ TEST_F(ResourceTest, NameWithUpperCasePrefix) {
   int i = mjp_registerResourceProvider(&provider);
   EXPECT_GT(i, 0);
 
-
-  // install warning handler
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings();
 
   // open resource
   mjResource* resource = mju_openResource("", "NOP:found", nullptr, nullptr, 0);
@@ -368,13 +331,8 @@ TEST_F(ResourceTest, NameWithInvalidPrefix) {
   int i = mjp_registerResourceProvider(&provider);
   EXPECT_GT(i, 0);
 
-
-  // install warning handler
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings();
 
   // open resource
   mjResource* resource = mju_openResource("", "nopfound", nullptr, nullptr, 0);

test/user/user_util_test.cc

@@ -24,7 +24,6 @@
 
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
-#include <mujoco/mujoco.h>
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -160,7 +159,8 @@ TEST_F(UserUtilTest, StringToVectorInvalidNumber) {
 }
 
 TEST_F(UserUtilTest, StringToVectorNan) {
-  mju_user_warning = nullptr;
+  MockWarningHandler warning_handler;
+  warning_handler.ExpectWarnings();
   auto v = StringToVector<double>("1 2 nan 3.21");
   EXPECT_THAT(v[2], IsNan());
   EXPECT_EQ(v[3], 3.21);