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Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.

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PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
This commit is contained in:
Yuval Tassa
2023-08-14 11:16:53 -07:00
committed by Copybara-Service
parent 13490962a8
commit e4dddea42a
15 changed files with 71 additions and 51 deletions
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src/engine/engine_io.c
+9 -3
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@@ -1746,7 +1746,7 @@ const char* mj_validateReferences(const mjModel* m) {
for (int i=0; i < m->neq; i++) {
int obj1id = m->eq_obj1id[i];
int obj2id = m->eq_obj2id[i];
switch (m->eq_type[i]) {
switch ((mjtEq) m->eq_type[i]) {
case mjEQ_JOINT:
if (obj1id >= m->njnt || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
@@ -1778,12 +1778,13 @@ const char* mj_validateReferences(const mjModel* m) {
break;
default:
// might occur in case of the now-removed distance equality constraint
mjERROR("unknown equality constraint type.");
}
}
for (int i=0; i < m->nwrap; i++) {
int wrap_objid = m->wrap_objid[i];
switch (m->wrap_type[i]) {
switch ((mjtWrap) m->wrap_type[i]) {
case mjWRAP_NONE:
case mjWRAP_PULLEY:
// wrap_objid not used.
@@ -1810,7 +1811,7 @@ const char* mj_validateReferences(const mjModel* m) {
int actuator_trntype = m->actuator_trntype[i];
int id = m->actuator_trnid[2*i];
int idslider = m->actuator_trnid[2*i+1];
switch (actuator_trntype) {
switch ((mjtTrn) actuator_trntype) {
case mjTRN_JOINT:
case mjTRN_JOINTINPARENT:
if (id < 0 || id >= m->njnt) {
@@ -1835,6 +1836,11 @@ const char* mj_validateReferences(const mjModel* m) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_BODY:
if (id < 0 || id >= m->nbody) {
return "Invalid model: actuator_trnid out of bounds.";
}
break;
case mjTRN_UNDEFINED:
// actuator_trnid not used.
break;