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Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.

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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
This commit is contained in:
Kyle Bayes
2023-03-09 13:50:39 -08:00
committed by Copybara-Service
parent 2e6a37e8c5
commit d3d789cf7d
33 changed files with 177 additions and 184 deletions
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src/engine/engine_collision_convex.c
+1 -1
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@@ -191,7 +191,7 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
break;
default:
mju_error_i("ccd support function is undefined for geom type %d", m->geom_type[g]);
mju_error("ccd support function is undefined for geom type %d", m->geom_type[g]);
}
// add dir*margin/2 to result
src/engine/engine_collision_driver.c
+1 -1
View File
@@ -766,7 +766,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
for (i=0; i<num; i++) {
// set contact data
if (condim > 6 || condim < 1) { // SHOULD NOT OCCUR
mju_error_i("Invalid condim value: %d", i);
mju_error("Invalid condim value: %d", i);
}
con[i].dim = condim;
con[i].geom1 = g1;
src/engine/engine_core_constraint.c
+9 -32
View File
@@ -541,7 +541,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
break;
default: // SHOULD NOT OCCUR
mju_error_i("Invalid equality constraint type %d", m->eq_type[i]);
mju_error("Invalid equality constraint type %d", m->eq_type[i]);
}
// add constraint
@@ -917,7 +917,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Unknown constraint type type %d", d->efc_type[i]); // SHOULD NOT OCCUR
mju_error("Unknown constraint type type %d", d->efc_type[i]); // SHOULD NOT OCCUR
}
break;
@@ -1616,52 +1616,29 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
// check sparse allocation
if (mj_isSparse(m)) {
if (d->ne != ne_allocated) {
char msg[1024];
// TODO(b/270530821): add var argument support to mju_error
mjSNPRINTF(
msg, "ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
mju_error(msg);
mju_error("ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
}
if (d->nf != nf_allocated) {
char msg[1024];
// TODO(b/270530821): add var argument support to mju_error
mjSNPRINTF(
msg, "nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
mju_error(msg);
mju_error("nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
}
// check that nefc was computed correctly
if (d->nefc != nefc_allocated) {
char msg[1024];
// TODO(b/270530821): add var argument support to mju_error
mjSNPRINTF(
msg, "nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
mju_error(msg);
mju_error("nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
}
// check that nnzJ was computed correctly
if (d->nefc > 0) {
int nnz = d->efc_J_rownnz[d->nefc - 1] + d->efc_J_rowadr[d->nefc - 1];
if (d->nnzJ != nnz) {
char msg[1024];
// TODO(b/270530821): add var argument support to mju_error
mjSNPRINTF(
msg, "constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d", nnz, d->nnzJ);
mju_error(msg);
mju_error("constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d",
nnz, d->nnzJ);
}
}
} else if (d->nefc > nefc_allocated) {
char msg[1024];
// TODO(b/270530821): add var argument support to mju_error
mjSNPRINTF(
msg, "nefc under-allocation: found nefc=%d but allocated only %d", d->nefc, nefc_allocated);
mju_error(msg);
mju_error("nefc under-allocation: found nefc=%d but allocated only %d",
d->nefc, nefc_allocated);
}
// collect memory use statistics
src/engine/engine_core_smooth.c
+5 -5
View File
@@ -135,7 +135,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Unknown joint type %d", jtype); // SHOULD NOT OCCUR
mju_error("Unknown joint type %d", jtype); // SHOULD NOT OCCUR
}
// assign xanchor and xaxis
@@ -514,7 +514,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
// do wrapping, possibly get 2 extra points (wlen>=0)
sideid = mju_round(m->wrap_prm[adr+j+1]);
if (sideid<-1 || sideid>=m->nsite) {
mju_error_i("Invalid sideid %d in wrap_prm", sideid); // SHOULD NOT OCCUR
mju_error("Invalid sideid %d in wrap_prm", sideid); // SHOULD NOT OCCUR
}
wlen = mju_wrap(wpnt+3, d->site_xpos+3*id0, d->site_xpos+3*id1,
@@ -943,7 +943,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Unknown transmission type %d", m->actuator_trntype[i]); // SHOULD NOT OCCUR
mju_error("Unknown transmission type %d", m->actuator_trntype[i]); // SHOULD NOT OCCUR
}
}
@@ -1503,7 +1503,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
int i = 0;
while (i < d->ne) {
if (d->efc_type[i]!=mjCNSTR_EQUALITY)
mju_error_i("Row %d of efc is not an equality constraint", i); // SHOULD NOT OCCUR
mju_error("Row %d of efc is not an equality constraint", i); // SHOULD NOT OCCUR
int id = d->efc_id[i];
mjtNum* eq_data = m->eq_data + mjNEQDATA*id;
@@ -1555,7 +1555,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Unknown constraint type type %d", m->eq_type[id]); // SHOULD NOT OCCUR
mju_error("Unknown constraint type type %d", m->eq_type[id]); // SHOULD NOT OCCUR
}
}
src/engine/engine_file.c
+5 -5
View File
@@ -30,7 +30,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
// find size
if (fseek(fp, 0, SEEK_END) != 0) {
fclose(fp);
mju_warning_s("Failed to calculate size for '%s'", filename);
mju_warning("Failed to calculate size for '%s'", filename);
return NULL;
}
@@ -38,11 +38,11 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
long long_filesize = ftell(fp); // NOLINT(runtime/int)
if (long_filesize > INT_MAX) {
fclose(fp);
mju_warning_s("File size over 2GB is not supported. File: '%s'", filename);
mju_warning("File size over 2GB is not supported. File: '%s'", filename);
return NULL;
} else if (long_filesize < 0) {
fclose(fp);
mju_warning_s("Failed to calculate size for '%s'", filename);
mju_warning("Failed to calculate size for '%s'", filename);
return NULL;
}
*filesize = long_filesize;
@@ -50,7 +50,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
// go back to start of file
if (fseek(fp, 0, SEEK_SET) != 0) {
fclose(fp);
mju_warning_s("Read error while reading '%s'", filename);
mju_warning("Read error while reading '%s'", filename);
return NULL;
}
@@ -67,7 +67,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
fclose(fp);
mju_free(buffer);
*filesize = 0;
mju_warning_s("Read error while reading '%s'", filename);
mju_warning("Read error while reading '%s'", filename);
return NULL;
} else if (feof(fp)) {
*filesize = bytes_read;
src/engine/engine_forward.c
+4 -4
View File
@@ -278,11 +278,11 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
mju_error("invalid plugin slot: %d", slot);
}
if (plugin->capabilityflags & mjPLUGIN_ACTUATOR) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_ACTUATOR);
}
@@ -480,7 +480,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Unknown solver type %d", m->opt.solver);
mju_error("Unknown solver type %d", m->opt.solver);
}
// save result for next step warmstart
@@ -533,7 +533,7 @@ static void mj_advance(const mjModel* m, mjData* d,
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
mju_error("invalid plugin slot: %d", slot);
}
if (plugin->advance) {
plugin->advance(m, d, i);
src/engine/engine_io.c
+10 -12
View File
@@ -566,7 +566,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
if (!buffer) {
fp = fopen(filename, "wb");
if (!fp) {
mju_warning_s("Could not open file '%s'", filename);
mju_warning("Could not open file '%s'", filename);
return;
}
}
@@ -632,7 +632,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
if (!buffer) {
fp = fopen(filename, "rb");
if (!fp) {
mju_warning_s("Could not open file '%s'", filename);
mju_warning("Could not open file '%s'", filename);
return 0;
}
}
@@ -765,7 +765,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
const char* validationError = mj_validateReferences(m);
if (validationError) {
mju_warning(validationError);
mju_warning("%s", validationError);
mj_deleteModel(m);
return 0;
}
@@ -888,7 +888,7 @@ static mjData* _makeData(const mjModel* m) {
mju_free(d->buffer);
mju_free(d->arena);
mju_free(d);
mju_error_i("plugin->init failed for plugin id %d", i);
mju_error("plugin->init failed for plugin id %d", i);
}
}
}
@@ -1018,12 +1018,10 @@ mjtNum* mj_stackAlloc(mjData* d, int size) {
size_t stack_available_bytes = d->nstack * sizeof(mjtNum) - d->parena;
size_t stack_required_bytes = (d->pstack + size) * sizeof(mjtNum);
if (stack_required_bytes > stack_available_bytes) {
char err[256];
mjSNPRINTF(err, "stack overflow: max = %zu, available = %zu, requested = %zu "
"(ne = %d, nf = %d, nefc = %d, ncon = %d)",
d->nstack * sizeof(mjtNum), stack_available_bytes, stack_required_bytes,
d->ne, d->nf, d->nefc, d->ncon);
mju_error(err);
mju_error("stack overflow: max = %zu, available = %zu, requested = %zu "
"(ne = %d, nf = %d, nefc = %d, ncon = %d)",
d->nstack * sizeof(mjtNum), stack_available_bytes, stack_required_bytes,
d->ne, d->nf, d->nefc, d->ncon);
}
// allocate at end of arena
@@ -1596,8 +1594,8 @@ const char* mj_validateReferences(const mjModel* m) {
if (sensor_type == mjSENS_PLUGIN) {
const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[m->sensor_plugin[i]]);
if (!plugin->nsensordata) {
mju_error_i("`nsensordata` is a null function pointer for plugin at slot %d",
m->plugin[m->sensor_plugin[i]]);
mju_error("`nsensordata` is a null function pointer for plugin at slot %d",
m->plugin[m->sensor_plugin[i]]);
}
sensor_size = plugin->nsensordata(m, m->sensor_plugin[i], i);
} else {
src/engine/engine_passive.c
+2 -2
View File
@@ -168,11 +168,11 @@ void mj_passive(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
mju_error("invalid plugin slot: %d", slot);
}
if (plugin->capabilityflags & mjPLUGIN_PASSIVE) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_PASSIVE);
}
src/engine/engine_plugin.cc
+3 -3
View File
@@ -223,8 +223,8 @@ int mjp_registerPlugin(const mjpPlugin* plugin) {
} else if (plugin->nattribute < 0) {
mju_error("plugin->nattribute is negative");
} else if (plugin->nattribute > kMaxAttributes) {
mju_error_i("plugin->nattribute exceeds the maximum limit of ",
kMaxAttributes);
mju_error("plugin->nattribute exceeds the maximum limit of %i",
kMaxAttributes);
}
char err[512];
@@ -339,7 +339,7 @@ int mjp_registerPlugin(const mjpPlugin* plugin) {
// plugin registration failed, throw an mju_error
if (slot < 0) {
err[sizeof(err) - 1] = '\0';
mju_error(err);
mju_error("%s", err);
}
return slot;
src/engine/engine_print.c
+6 -6
View File
@@ -139,13 +139,13 @@ static bool validateFloatFormat(const char* float_format) {
// example valid format string: "% -9.2g"
if (strnlen(float_format, FLOAT_FORMAT_MAX_LEN + 1) > FLOAT_FORMAT_MAX_LEN) {
mju_warning_i("Format string longer than limit of %d.", FLOAT_FORMAT_MAX_LEN);
mju_warning("Format string longer than limit of %d.", FLOAT_FORMAT_MAX_LEN);
return false;
}
int cur_idx = 0;
if (float_format[cur_idx] != '%') {
mju_warning("Format string must start with '%'.");
mju_warning("Format string must start with '%%'.");
return false;
}
cur_idx++;
@@ -192,8 +192,8 @@ static bool validateFloatFormat(const char* float_format) {
if (float_format[cur_idx] == '\0') {
return true;
} else {
mju_warning_s("Unable to match format string %s with expected pattern for a single float.",
float_format);
mju_warning("Unable to match format string %s with expected pattern for a single float.",
float_format);
return false;
}
}
@@ -219,7 +219,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// check for nullptr
if (!fp) {
mju_warning_s("Could not open file '%s' for writing mjModel", filename);
mju_warning("Could not open file '%s' for writing mjModel", filename);
return;
}
@@ -748,7 +748,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// check for nullptr
if (!fp) {
mju_warning_s("Could not open file '%s' for writing mjModel", filename);
mju_warning("Could not open file '%s' for writing mjModel", filename);
mjFREESTACK;
return;
}
src/engine/engine_ray.c
+1 -1
View File
@@ -674,7 +674,7 @@ mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
return ray_box(pos, mat, size, pnt, vec, NULL);
default:
mju_error_i("mju_rayGeom: unexpected geom type %d", geomtype);
mju_error("mju_rayGeom: unexpected geom type %d", geomtype);
return -1;
}
}
src/engine/engine_sensor.c
+12 -12
View File
@@ -96,7 +96,7 @@ static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
// unknown datatype
else {
mju_error_i("Unknown datatype in sensor %d", i);
mju_error("Unknown datatype in sensor %d", i);
}
}
}
@@ -158,7 +158,7 @@ static void get_xpos_xmat(const mjData* d, int type, int id, int sensor_id,
*xmat = d->cam_xmat + 9*id;
break;
default:
mju_error_i("Invalid object type in sensor %d", sensor_id);
mju_error("Invalid object type in sensor %d", sensor_id);
}
}
@@ -182,7 +182,7 @@ static void get_xquat(const mjModel* m, const mjData* d, int type, int id, int s
mju_mulQuat(quat, d->xquat+4*m->cam_bodyid[id], m->cam_quat+4*id);
break;
default:
mju_error_i("Invalid object type in sensor %d", sensor_id);
mju_error("Invalid object type in sensor %d", sensor_id);
}
}
@@ -334,7 +334,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Invalid sensor type in POS stage, sensor %d", i);
mju_error("Invalid sensor type in POS stage, sensor %d", i);
}
}
}
@@ -356,12 +356,12 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
mju_error("invalid plugin slot: %d", slot);
}
if ((plugin->capabilityflags & mjPLUGIN_SENSOR) &&
(plugin->needstage==mjSTAGE_POS || plugin->needstage==mjSTAGE_NONE)) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_SENSOR);
}
@@ -515,7 +515,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Invalid type in VEL stage, sensor %d", i);
mju_error("Invalid type in VEL stage, sensor %d", i);
}
}
}
@@ -537,11 +537,11 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
mju_error("invalid plugin slot: %d", slot);
}
if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) {
if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot);
mju_error("`compute` is null for plugin at slot %d", slot);
}
if (subtreeVel == 0) {
// compute subtree_linvel, subtree_angmom
@@ -724,7 +724,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
break;
default:
mju_error_i("Invalid type in ACC stage, sensor %d", i);
mju_error("Invalid type in ACC stage, sensor %d", i);
}
}
}
@@ -746,11 +746,11 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
mju_error("invalid plugin slot: %d", slot);
}
if ((plugin->capabilityflags & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) {
if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot);
mju_error("`compute` is null for plugin at slot %d", slot);
}
if (rnePost == 0) {
// compute cacc, cfrc_int, cfrc_ext
src/engine/engine_support.c
+6 -8
View File
@@ -267,7 +267,7 @@ void mj_jacSparse(const mjModel* m, const mjData* d,
// make sure we found it; SHOULD NOT OCCUR
if (chain[ci]!=da) {
mju_error_i("dof index %d not found in chain", da);
mju_error("dof index %d not found in chain", da);
}
// construct rotation jacobian
@@ -1083,7 +1083,7 @@ void mj_applyFT(const mjModel* m, mjData* d,
// make sure body is in range
if (body<0 || body>=m->nbody) {
mju_error_i("Invalid body %d in applyFT", body);
mju_error("Invalid body %d in applyFT", body);
}
// compute Jacobians
@@ -1158,7 +1158,7 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
// object without spatial frame
else {
mju_error_i("Invalid object type %d in mj_objectVelocity", objtype);
mju_error("Invalid object type %d in mj_objectVelocity", objtype);
}
// transform velocity
@@ -1211,7 +1211,7 @@ void mj_objectAcceleration(const mjModel* m, const mjData* d,
// object without spatial frame
else {
mju_error_i("Invalid object type %d in mj_objectAcceleration", objtype);
mju_error("Invalid object type %d in mj_objectAcceleration", objtype);
}
// transform com-based velocity to local frame
@@ -1416,11 +1416,10 @@ void mj_setTotalmass(mjModel* m, mjtNum newmass) {
// count warnings, print only the first time
void mj_warning(mjData* d, int warning, int info) {
char str[1000];
// check type
if (warning<0 || warning>=mjNWARNING) {
mju_error_i("Invalid warning type %d", warning);
mju_error("Invalid warning type %d", warning);
}
// save info (override previous)
@@ -1428,8 +1427,7 @@ void mj_warning(mjData* d, int warning, int info) {
// print message only the first time this warning is encountered
if (!d->warning[warning].number) {
mjSNPRINTF(str, "%s Time = %.4f.", mju_warningText(warning, info), d->time);
mju_warning(str);
mju_warning("%s Time = %.4f.", mju_warningText(warning, info), d->time);
}
// increase counter
src/engine/engine_util_errmem.c
+33 -27
View File
@@ -18,12 +18,14 @@
#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <time.h>
#if defined (__unix__) || (defined (__APPLE__) && defined (__MACH__))
#include <unistd.h>
#endif
#include "engine/engine_array_safety.h"
#include "engine/engine_macro.h"
//------------------------- cross-platform aligned malloc/free -------------------------------------
@@ -122,70 +124,74 @@ void mju_writeLog(const char* type, const char* msg) {
// write message to logfile and console, pause and exit
void mju_error(const char* msg) {
void mju_error(const char* msg, ...) {
char errmsg[1000];
// Format msg into errmsg
va_list args;
va_start(args, msg);
vsnprintf(errmsg, mjSIZEOFARRAY(errmsg), msg, args);
va_end(args);
if (_mjPRIVATE_tls_error_fn) {
_mjPRIVATE_tls_error_fn(msg);
_mjPRIVATE_tls_error_fn(errmsg);
} else if (mju_user_error) {
mju_user_error(msg);
mju_user_error(errmsg);
} else {
// write to log and console
mju_writeLog("ERROR", msg);
printf("ERROR: %s\n\nPress Enter to exit ...", msg);
mju_writeLog("ERROR", errmsg);
printf("ERROR: %s\n\nPress Enter to exit ...", errmsg);
// pause, exit
getchar();
exit(1);
exit(EXIT_FAILURE);
}
}
// write message to logfile and console
void mju_warning(const char* msg) {
void mju_warning(const char* msg, ...) {
char wrnmsg[1000];
// Format msg into wrnmsg
va_list args;
va_start(args, msg);
vsnprintf(wrnmsg, mjSIZEOFARRAY(wrnmsg), msg, args);
va_end(args);
if (_mjPRIVATE_tls_warning_fn) {
_mjPRIVATE_tls_warning_fn(msg);
_mjPRIVATE_tls_warning_fn(wrnmsg);
} else if (mju_user_warning) {
mju_user_warning(msg);
mju_user_warning(wrnmsg);
} else {
// write to log file and console
mju_writeLog("WARNING", msg);
printf("WARNING: %s\n\n", msg);
mju_writeLog("WARNING", wrnmsg);
printf("WARNING: %s\n\n", wrnmsg);
}
}
// error with int argument
void mju_error_i(const char* msg, int i) {
char errmsg[1000];
snprintf(errmsg, sizeof(errmsg), msg, i);
errmsg[999] = '\0';
mju_error(errmsg);
mju_error(msg, i);
}
// warning with int argument
void mju_warning_i(const char* msg, int i) {
char wrnmsg[1000];
snprintf(wrnmsg, sizeof(wrnmsg), msg, i);
wrnmsg[999] = '\0';
mju_warning(wrnmsg);
mju_warning(msg, i);
}
// error string argument
void mju_error_s(const char* msg, const char* text) {
char errmsg[1000];
snprintf(errmsg, sizeof(errmsg), msg, text);
errmsg[999] = '\0';
mju_error(errmsg);
mju_error(msg, text);
}
// warning string argument
void mju_warning_s(const char* msg, const char* text) {
char wrnmsg[1000];
snprintf(wrnmsg, sizeof(wrnmsg), msg, text);
wrnmsg[999] = '\0';
mju_warning(wrnmsg);
mju_warning(msg, text);
}
src/engine/engine_util_errmem.h
+11 -2
View File
@@ -23,6 +23,15 @@
extern "C" {
#endif
#ifndef mjPRINTFLIKE
#if defined(__GNUC__)
#define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
#else
#define mjPRINTFLIKE(n, m)
#endif // __GNUC__
#endif // mjPRINTFLIKE
//------------------------------ user handlers -----------------------------------------------------
MJAPI extern void (*mju_user_error)(const char*);
@@ -42,12 +51,12 @@ MJAPI void _mjPRIVATE__set_tls_warning_fn(void (*h)(const char*));
//------------------------------ errors and warnings -----------------------------------------------
// errors
MJAPI void mju_error(const char* msg);
MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
MJAPI void mju_error_i(const char* msg, int i);
MJAPI void mju_error_s(const char* msg, const char* text);
// warnings
MJAPI void mju_warning(const char* msg);
MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
MJAPI void mju_warning_i(const char* msg, int i);
MJAPI void mju_warning_s(const char* msg, const char* text);
src/engine/engine_util_misc.c
+1 -1
View File
@@ -286,7 +286,7 @@ mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
// check object type; SHOULD NOT OCCUR
if (type!=mjWRAP_SPHERE && type!=mjWRAP_CYLINDER) {
mju_error_i("mju_wrap: unknown wrapping object type %d", type);
mju_error("mju_wrap: unknown wrapping object type %d", type);
}
// map sites to wrap object's local frame
src/engine/engine_vis_interact.c
+4 -4
View File
@@ -295,7 +295,7 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
break;
default:
mju_error_i("Unexpected mouse action %d in convert2D", action);
mju_error("Unexpected mouse action %d in convert2D", action);
}
// call 3D converter
@@ -347,7 +347,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
break;
default:
mju_error_i("Unexpected action %d in mjv_moveCamera", action);
mju_error("Unexpected action %d in mjv_moveCamera", action);
}
// clamp camera parameters
@@ -434,7 +434,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
break;
default:
mju_error_i("Unexpected mouse action %d in mjv_movePerturb", action);
mju_error("Unexpected mouse action %d in mjv_movePerturb", action);
}
}
@@ -510,7 +510,7 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
break;
default:
mju_error_i("Unexpected action %d in mjv_moveModel", action);
mju_error("Unexpected action %d in mjv_moveModel", action);
}
}
src/engine/engine_vis_visualize.c
+3 -4
View File
@@ -304,7 +304,7 @@ void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
if (type!=mjGEOM_CAPSULE && type!=mjGEOM_CYLINDER &&
type!=mjGEOM_ARROW && type!=mjGEOM_ARROW1 && type!=mjGEOM_ARROW2
&& type!=mjGEOM_LINE) {
mju_error_i("Invalid geom type %d for connector", type);
mju_error("Invalid geom type %d for connector", type);
}
// assign type
@@ -770,7 +770,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
break;
default:
mju_error_i("Unknown joint type %d in mjv_visualize", m->jnt_type[i]);
mju_error("Unknown joint type %d in mjv_visualize", m->jnt_type[i]);
}
f2f(thisgeom->rgba, m->vis.rgba.joint, 4);
@@ -2008,7 +2008,7 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
mju_error("invalid plugin slot: %d", slot);
}
if (plugin->visualize) {
plugin->visualize(m, d, scn, i);
@@ -2190,4 +2190,3 @@ int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3]
return 0; // SHOULD NOT OCCUR
}