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Raise warning if there are NaNs in the XML.

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For Windows, throw an error if NaNs are present.

PiperOrigin-RevId: 455340787
Change-Id: Ibd95e2335ab15b706ee3328816983e5b57b2315e
This commit is contained in:
Alessio Quaglino
2022-06-16 03:08:56 -07:00
committed by Copybara-Service
parent 8958e13878
commit e0b6ba4a13
2 changed files with 38 additions and 2 deletions
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test/xml/xml_native_reader_test.cc
+33 -2
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@@ -22,13 +22,17 @@
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_array_safety.h"
#include "src/engine/engine_util_errmem.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::std::string;
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
using UserDataTest = MujocoTest;
@@ -128,6 +132,33 @@ TEST_F(UserDataTest, InvalidNUserSensor) {
EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
}
TEST_F(UserDataTest, RaiseNanWarning) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1.0 0.0 0.0 nan"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
mjSTRNCPY(warning, msg);
};
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
#if defined(_WIN32) || defined(__CYGWIN__)
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("problem reading attribute 'axisangle'"));
#else
ASSERT_THAT(model, NotNull());
EXPECT_THAT(warning, HasSubstr("XML contains a 'NaN'"));
mj_deleteModel(model);
#endif
}
TEST_F(UserDataTest, InvalidArrayElement) {
static constexpr char xml[] = R"(
<mujoco>
@@ -188,7 +219,7 @@ TEST_F(UserDataTest, AllowsSpaces) {
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, Not(IsNull()));
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
}
@@ -333,7 +364,7 @@ TEST_F(ActuatorTest, ReadsByte) {
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, Not(IsNull()));
ASSERT_THAT(model, NotNull());
EXPECT_EQ(*(model->actuator_actlimited), (mjtByte)(1 & 0xFF));
mj_deleteModel(model);
}