From d6650f84e58bdeb2de5a6949959bf64e96aa38d5 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 10 Jul 2026 07:25:22 -0700 Subject: [PATCH] Remove engine_util_container and its test. PiperOrigin-RevId: 945701044 Change-Id: I6ca3d4fc87cdcd9e3fc14ee49b3aa441a70cd8bd --- src/engine/engine_util_container.c | 94 ------------------- src/engine/engine_util_container.h | 66 ------------- test/engine/engine_util_container_test.cc | 108 ---------------------- 3 files changed, 268 deletions(-) delete mode 100644 src/engine/engine_util_container.c delete mode 100644 src/engine/engine_util_container.h delete mode 100644 test/engine/engine_util_container_test.cc diff --git a/src/engine/engine_util_container.c b/src/engine/engine_util_container.c deleted file mode 100644 index 204e9a51..00000000 --- a/src/engine/engine_util_container.c +++ /dev/null @@ -1,94 +0,0 @@ -// Copyright 2023 DeepMind Technologies Limited -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "engine/engine_util_container.h" - -#include -#include -#include - -#include -#include "engine/engine_crossplatform.h" -#include "engine/engine_memory.h" - -// stack allocate and initialize new mjArrayList -mjArrayList* mju_arrayListCreate(mjData* d, size_t element_size, size_t initial_capacity) { - mjArrayList* array_list = mjSTACKALLOC(d, 1, mjArrayList); - initial_capacity = mjMAX(1, initial_capacity); - array_list->d = d; - array_list->element_size = element_size; - array_list->capacity = initial_capacity; - array_list->size = 0; - array_list->next_segment = NULL; - - // allocate array list buffer - array_list->buffer = (void*) mj_stackAllocByte( - d, element_size * initial_capacity, _Alignof(mjtMaxAlign)); - return array_list; -} - - -// returns total number of elements in mjArrayList -size_t mju_arrayListSize(const mjArrayList* array_list) { - const mjArrayList* cursor = array_list; - size_t array_list_size = 0; - while (cursor) { - array_list_size += cursor->size; - cursor = cursor->next_segment; - } - return array_list_size; -} - - -// copies one element into an mjArrayList -void mju_arrayListAdd(mjArrayList* array_list, void* element) { - mjArrayList* cursor = array_list; - - // find a non full segment or add a new segment - while (cursor->size == cursor->capacity) { - if (cursor->next_segment == NULL) { - // add a new segment with twice the capacity of the last segment - cursor->next_segment = mju_arrayListCreate( - cursor->d, cursor->element_size, 2 * cursor->capacity); - } - cursor = cursor->next_segment; - } - // copy element into segment - memcpy((mjtByte*)cursor->buffer + cursor->element_size * cursor->size, - element, cursor->element_size); - ++cursor->size; -} - - -// returns pointer to element at index, NULL if out of bounds -void* mju_arrayListAt(const mjArrayList* array_list, size_t index) { - // if the index is larger than the current capacity, then it is in a later segment - const mjArrayList* cursor = array_list; - size_t total_capacity = 0; - while (cursor != NULL && index >= total_capacity + cursor->capacity) { - total_capacity += cursor->capacity; - cursor = cursor->next_segment; - } - - if (!cursor) { - return NULL; - } - - if (index - total_capacity >= cursor->size) { - return NULL; - } - - return (mjtByte*)cursor->buffer + (cursor->element_size * (index - total_capacity)); -} - diff --git a/src/engine/engine_util_container.h b/src/engine/engine_util_container.h deleted file mode 100644 index 67dcafd5..00000000 --- a/src/engine/engine_util_container.h +++ /dev/null @@ -1,66 +0,0 @@ -// Copyright 2023 DeepMind Technologies Limited -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_CONTAINER_H_ -#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_CONTAINER_H_ - -#include - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -//---------------------------------- mjArrayList --------------------------------------------------- -struct mjArrayList_ { - // pointer to mjData to allow for growth of the list - mjData* d; - - // size of element - size_t element_size; - - // maximum number of elements - size_t capacity; - - // number of elements in this list - size_t size; - - // pointer to the next segment of the array list, NULL if last - struct mjArrayList_* next_segment; - - // buffer for data in this segment stored in d->arena - void* buffer; -}; -typedef struct mjArrayList_ mjArrayList; - -// stack allocate and initialize new mjArrayList -mjArrayList* mju_arrayListCreate(mjData* d, size_t element_size, size_t initial_capacity); - -// returns total number of elements in mjArrayList -size_t mju_arrayListSize(const mjArrayList* array_list); - -// copies an element into an mjArrayList -void mju_arrayListAdd(mjArrayList* array_list, void* element); - -// returns a pointer to the element at the specified location of the arraylist -// NULL returned if index is not in the mjArrayList -void* mju_arrayListAt(const mjArrayList* array_list, size_t index); - -#ifdef __cplusplus -} -#endif - - -#endif // MUJOCO_SRC_ENGINE_ENGINE_UTIL_CONTAINER_H_ diff --git a/test/engine/engine_util_container_test.cc b/test/engine/engine_util_container_test.cc deleted file mode 100644 index 8dca197d..00000000 --- a/test/engine/engine_util_container_test.cc +++ /dev/null @@ -1,108 +0,0 @@ -// Copyright 2023 DeepMind Technologies Limited -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "src/engine/engine_util_container.h" - -#include -#include - -#include -#include -#include -#include -#include "test/fixture.h" - -namespace mujoco { -namespace { - -using testing::NotNull; - -template -constexpr int GetExpectedStackUsageBytes() { - if constexpr (N <= 0) { - return prev_size; - } else { - constexpr auto RoundUpToAlignment = [](int x, int alignment) { - return alignment * (x / alignment + ((x % alignment) ? 1 : 0)); - }; - constexpr int size_with_arraylist = RoundUpToAlignment( - prev_size + sizeof(mjArrayList), alignof(mjArrayList)); - constexpr int size_with_buffer = RoundUpToAlignment( - size_with_arraylist + capacity * sizeof(T), alignof(std::max_align_t)); - return GetExpectedStackUsageBytes(); - } -} - -class TestMjArrayList : public MujocoTest {}; - -TEST_F(TestMjArrayList, TestMjArrayListSingleThreaded) { - std::array error; - MjModelPtr m = LoadModelFromString("", error.data(), error.size()); - ASSERT_THAT(m.get(), NotNull()) << "Failed to load model: " << error.data(); - MjDataPtr d = MakeData(m); - mj_markStack(d.get()); - - using DataType = int; - constexpr int kInitialCapacity = 10; - mjArrayList* array_list = - mju_arrayListCreate(d.get(), sizeof(DataType), kInitialCapacity); - - constexpr int kNumElements = 35; - for (int i = 0; i < kNumElements; ++i) { - mju_arrayListAdd(array_list, &i); - } - EXPECT_EQ(mju_arrayListSize(array_list), kNumElements); - - constexpr int kFrameMarkerSize = 2 * sizeof(size_t) + sizeof(void*); - constexpr int kExpectedMaxUseStack = - GetExpectedStackUsageBytes(); - EXPECT_EQ(d->maxuse_stack, kExpectedMaxUseStack); - - for (int i = 0; i < kNumElements; ++i) { - EXPECT_EQ(*static_cast(mju_arrayListAt(array_list, i)), i); - } - - EXPECT_EQ(mju_arrayListAt(array_list, kNumElements), nullptr); - EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr); - - mj_freeStack(d.get()); -} - -TEST_F(TestMjArrayList, ZeroInitialCapacity) { - char error[1024]; - MjModelPtr m = LoadModelFromString("", error, sizeof(error)); - ASSERT_THAT(m.get(), NotNull()) << "Failed to load model: " << error; - MjDataPtr d = MakeData(m); - mj_markStack(d.get()); - mjArrayList* array_list = - mju_arrayListCreate(d.get(), sizeof(double), /*initial_capacity=*/0); - EXPECT_EQ(mju_arrayListSize(array_list), 0); - - for (int i = 0; i < 35; ++i) { - double value = i; - mju_arrayListAdd(array_list, &value); - } - EXPECT_EQ(mju_arrayListSize(array_list), 35); - - for (int i = 0; i < 35; ++i) { - EXPECT_EQ(*static_cast(mju_arrayListAt(array_list, i)), i); - } - EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr); - - mj_freeStack(d.get()); -} - -} // namespace -} // namespace mujoco