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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_core_constraint.c
+9 -32
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@@ -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