Migrate tests to use MockWarningHandler for warning interception.

PiperOrigin-RevId: 933656759
Change-Id: Ia21514c302799034bf598445933dd90427284737

test/engine/engine_forward_test.cc

@@ -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::_;
-using ::testing::HasSubstr;
-using ::testing::NotNull;
 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
+  MockWarningHandler warning_handler;
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   // 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,
+  testing::Mock::VerifyAndClearExpectations(&warning_handler);
-              HasSubstr("Nan, Inf or huge value in CTRL at ACTUATOR 0"));
 
   // 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);
     }

test/engine/engine_io_test.cc

@@ -31,7 +31,6 @@
 #include <absl/strings/str_format.h>
 #include <mujoco/mjxmacro.h>
 #include <mujoco/mujoco.h>
-#include "src/engine/engine_util_errmem.h"
 #include "src/engine/engine_thread.h"
 #include "test/fixture.h"
 
@@ -130,14 +129,10 @@ TEST_F(EngineIoTest, MakeDataReturnsNullOnFailure) {
 
   // fail mj_makeData intentionally with a bad size
   model->nbody = -1;
-  static bool warning;
+  MockWarningHandler warning_handler;
-  warning = false;
+  warning_handler.ExpectWarnings();
-  mju_user_warning = [](const char* error) {
-    warning = true;
-  };
   mjData* data = mj_makeData(model);
   EXPECT_THAT(data, IsNull());
-  EXPECT_TRUE(warning) << "Expecting warning to be triggered.";
 
   mj_deleteData(data);
   mj_deleteModel(model);
@@ -964,18 +959,14 @@ TEST_F(EngineIoTest, LoadModelBufferRejectsOverflowingSizes) {
   // nbuffer mismatch check — but the overflow should be caught earlier
   // in safeAddToBufferSize/mj_makeModel before we reach that check.
 
-  // intercept mju_warning because the test framework translates it to ADD_FAILURE
+  // Intercept warnings to prevent them from failing the test.
-  static bool warning_triggered = false;
+  MockWarningHandler warning_handler;
-  warning_triggered = false;
+  warning_handler.ExpectWarnings();
-  mju_user_warning = [](const char* msg) {
-    warning_triggered = true;
-  };
 
   // attempt to load — should return NULL, not crash
   mjModel* bad_model = mj_loadModelBuffer(buffer.data(), bufsize);
   EXPECT_THAT(bad_model, IsNull())
       << "Expected mj_loadModelBuffer to reject overflow-inducing sizes";
-  EXPECT_TRUE(warning_triggered) << "Expected a warning about invalid sizes";
 
   // clean up if somehow it succeeded
   if (bad_model) {

test/fixture.cc

@@ -83,9 +83,16 @@ MockWarningHandler::MockWarningHandler() {
 // Restores the previously active warning handler.
 MockWarningHandler::~MockWarningHandler() { active_handler = prev_; }
 
-// Configures the mock warning handler to ignore all warnings.
+// Configures the mock warning handler to ignore all warnings (if empty) or
-void MockWarningHandler::ExpectWarnings() {
+// expect at least one warning containing substring (if non-empty).
-  EXPECT_CALL(*this, Warn(_)).WillRepeatedly(Return());
+void MockWarningHandler::ExpectWarnings(std::string_view substring) {
+  if (substring.empty()) {
+    EXPECT_CALL(*this, Warn(_)).WillRepeatedly(Return());
+  } else {
+    EXPECT_CALL(*this, Warn(::testing::HasSubstr(std::string(substring))))
+        .Times(::testing::AtLeast(1))
+        .WillRepeatedly(Return());
+  }
 }
 
 // Returns the active warning handler.
@@ -102,10 +109,12 @@ static mjfLogHandler prev_log_handler ABSL_GUARDED_BY(handlers_mutex) = nullptr;
 void default_mj_log_handler(const mjLogMessage* msg) {
   std::string subject = msg->subject;
   if (msg->func) {
-    subject = std::string(msg->func) + ": " + msg->subject;
+    subject = absl::StrCat(msg->func, ": ", msg->subject);
   }
 
   if (msg->level == mjLOG_ERROR) {
+    // legacy fallback: some tests still install mju_user_error to intercept
+    // errors with longjmp-based capture
     if (mju_user_error) {
       mju_user_error(subject.c_str());
     } else {
@@ -114,14 +123,12 @@ void default_mj_log_handler(const mjLogMessage* msg) {
   } else if (msg->level == mjLOG_WARNING) {
     std::string full_msg = subject;
     if (msg->body) {
-      full_msg += "\n" + std::string(msg->body);
+      absl::StrAppend(&full_msg, "\n", msg->body);
     }
-    if (mju_user_warning) {
+    if (auto* handler = MockWarningHandler::GetActive()) {
-      mju_user_warning(full_msg.c_str());
-    } else if (auto* handler = MockWarningHandler::GetActive()) {
       handler->Warn(full_msg);
     } else {
-      ADD_FAILURE() << "mju_user_warning: " << full_msg;
+      ADD_FAILURE() << "Unexpected warning: " << full_msg;
     }
   }
 }

test/fixture.h

@@ -117,8 +117,9 @@ class MockWarningHandler {
   // Mock method called when a warning is intercepted.
   MOCK_METHOD(void, Warn, (const std::string& msg));
 
-  // Allow any number of warnings without triggering test failure.
+  // Allow any number of warnings (if empty) or expect at least one warning
-  void ExpectWarnings();
+  // containing the specified substring (if non-empty).
+  void ExpectWarnings(std::string_view substring = "");
 
   // Returns the thread-local active mock warning handler.
   static MockWarningHandler* GetActive();

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];
+  MockWarningHandler warning_handler;
-  warning[0] = '\0';
+  warning_handler.ExpectWarnings();
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
   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));
+  const std::size_t kBufferSize = 100;
-  std::strcpy((char*) resource->data, "Hello World");
+  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
+  MockWarningHandler warning_handler;
-  static char warning[1024];
+  warning_handler.ExpectWarnings("callback");
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   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
+  MockWarningHandler warning_handler;
-  static char warning[1024];
+  warning_handler.ExpectWarnings("prefix");
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   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
+  MockWarningHandler warning_handler;
-  static char warning[1024];
+  warning_handler.ExpectWarnings("prefix");
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   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
+  MockWarningHandler warning_handler;
-  static char warning[1024];
+  warning_handler.ExpectWarnings("prefix");
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   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);
 
-
+  MockWarningHandler warning_handler;
-  // install warning handler
+  warning_handler.ExpectWarnings();
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   // 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);
 
-
+  MockWarningHandler warning_handler;
-  // install warning handler
+  warning_handler.ExpectWarnings();
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   // 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);
 
-
+  MockWarningHandler warning_handler;
-  // install warning handler
+  warning_handler.ExpectWarnings();
-  static char warning[1024];
-  warning[0] = '\0';
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
 
   // 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);

test/xml/xml_native_reader_test.cc

@@ -28,7 +28,6 @@
 #include <mujoco/mjspec.h>
 #include <mujoco/mujoco.h>
 #include "src/cc/array_safety.h"
-#include "src/engine/engine_util_errmem.h"
 #include "src/user/user_api.h"
 #include "src/xml/xml_api.h"
 #include "test/compare_model.h"
@@ -381,14 +380,10 @@ TEST_F(XMLReaderTest, CanParseNanAndRaisesWarning) {
   </mujoco>
   )";
   std::array<char, 1024> error;
-  static char warning[1024];
+  MockWarningHandler warning_handler;
-  warning[0] = '\0';
+  warning_handler.ExpectWarnings("XML contains a 'NaN'");
-  mju_user_warning = [](const char* msg) {
-    util::strcpy_arr(warning, msg);
-  };
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model, NotNull());
-  EXPECT_THAT(warning, HasSubstr("XML contains a 'NaN'"));
   EXPECT_THAT(model->geom_pos[0], IsNan());
   EXPECT_THAT(model->geom_pos[1], IsNan());
   EXPECT_THAT(model->geom_pos[2], IsNan());