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Move schema definition validation from runtime to a test.

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PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
This commit is contained in:
Kyle Bayes
2024-02-12 09:48:44 -08:00
committed by Copybara-Service
parent b6873ec8a2
commit eabd4c06f9
5 changed files with 157 additions and 79 deletions
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src/xml/xml_native_reader.cc
+1 -8
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@@ -81,8 +81,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 227;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
{"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass",
@@ -774,12 +773,6 @@ const mjMap flexself_map[5] = {
// constructor
mjXReader::mjXReader() : schema(MJCF, nMJCF) {
// check for schema construction error
if (!schema.GetError().empty()) {
throw mjXError(0, "Schema construction error: %s",
schema.GetError().c_str());
}
readingdefaults = false;
}
src/xml/xml_native_reader.h
+12 -3
View File
@@ -17,10 +17,15 @@
#include <sstream>
#include "user/user_model.h"
#include "xml/xml_base.h"
#include "tinyxml2.h"
#include <mujoco/mujoco.h>
#include "user/user_api.h"
#include "user/user_model.h"
#include "user/user_objects.h"
#include "xml/xml_base.h"
#include "xml/xml_util.h"
class mjXReader : public mjXBase {
public:
mjXReader(); // constructor
@@ -74,7 +79,11 @@ class mjXReader : public mjXBase {
mjCDef* GetClass(tinyxml2::XMLElement* section); // get default class name
static void GetXMLPos(tinyxml2::XMLElement* elem, mjCBase* obj); // get xml position
bool readingdefaults; // true while reading defaults
bool readingdefaults; // true while reading defaults
};
// MJCF schema
#define nMJCF 227
extern const char* MJCF[nMJCF][mjXATTRNUM];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
src/xml/xml_util.cc
+8 -67
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@@ -157,56 +157,7 @@ XMLElement* NextSiblingElement(XMLElement* e, const char* name) {
}
// constructor
mjXSchema::mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow, bool checkptr) {
if (schema[0][0][0] == '<' || schema[0][0][0] == '>') {
throw "expected element, found bracket";
}
// check entire schema for null pointers
if (checkptr) {
char msg[100];
for (int i=0; i<nrow; i++) {
// base pointers
if (!schema[i][0]) {
mju::sprintf_arr(msg, "null pointer found in row %d", i);
throw msg;
}
// detect element
if (schema[i][0][0]!='<' && schema[i][0][0]!='>') {
// first 3 pointers required
if (!schema[i][1] || !schema[i][2]) {
mju::sprintf_arr(msg, "null pointer in row %d, element %s", i, schema[i][0]);
throw msg;
}
// check type
if (schema[i][1][0]!='!' && schema[i][1][0]!='?' &&
schema[i][1][0]!='*' && schema[i][1][0]!='R') {
mju::sprintf_arr(msg, "invalid type in row %d, element %s", i, schema[i][0]);
throw msg;
}
// number of attributes
int nattr = atoi(schema[i][2]);
if (nattr < 0 || nattr > mjXATTRNUM-3) {
mju::sprintf_arr(msg,
"invalid number of attributes in row %d, element %s", i, schema[i][0]);
throw msg;
}
// attribute pointers
for (int j=0; j<nattr; j++) {
if (!schema[i][3+j]) {
mju::sprintf_arr(msg, "null attribute %d in row %d, element %s", j, i, schema[i][0]);
throw msg;
}
}
}
}
}
mjXSchema::mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow) {
// set name and type
name_ = schema[0][0];
type_ = schema[0][1][0];
@@ -218,42 +169,32 @@ mjXSchema::mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow, bool check
}
// process sub-elements of complex element
if (nrow>1) {
// check for bracketed block
if (schema[1][0][0]!='<' || schema[nrow-1][0][0]!='>') {
throw "expected brackets after complex element";
}
if (nrow > 1) {
// parse block into simple and complex elements, create children
int start = 2;
while (start < nrow-1) {
int end = start;
// look for bracketed block at start+1
if (schema[start+1][0][0]=='<') {
if (schema[start+1][0][0] == '<') {
// look for corresponding closing bracket
int cnt = 0;
while (end <= nrow-1) {
if (schema[end][0][0]=='<') {
if (schema[end][0][0] == '<') {
cnt++;
} else if (schema[end][0][0]=='>') {
} else if (schema[end][0][0] == '>') {
cnt--;
if (cnt==0) {
if (cnt == 0) {
break;
}
}
end++;
}
// closing bracket not found
if (end > nrow-1) {
throw "matching closing bracket not found";
}
}
// add element, check for error
subschema_.emplace_back(schema+start, end-start+1, false);
// add child element
subschema_.emplace_back(schema+start, end-start+1);
// proceed with next subelement
start = end+1;
src/xml/xml_util.h
+1 -1
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@@ -56,7 +56,7 @@ class [[nodiscard]] mjXError {
// Custom XML file validation
class mjXSchema {
public:
mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow, bool checkptr = true);
mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow);
std::string GetError(); // return error
void Print(std::stringstream& str, int level) const; // print schema
test/xml/xml_schema_test.cc
+135
View File
@@ -0,0 +1,135 @@
// Copyright 2024 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 <optional>
#include <string>
#include <gtest/gtest.h>
#include "src/xml/xml_native_reader.h"
#include "src/xml/xml_util.h"
#include "test/fixture.h"
#include <absl/strings/numbers.h>
#include <absl/strings/str_format.h>
namespace mujoco {
namespace {
using XMLSchemaTest = MujocoTest;
static std::optional<std::string> IsValidSchemaFormat(
const char* schema[][mjXATTRNUM], unsigned nrow) {
if (schema[0][0][0] == '<' || schema[0][0][0] == '>') {
return "expected element, found bracket";
}
// check entire schema for null pointers
for (int i = 0; i < nrow; i++) {
// base pointers
if (!schema[i][0]) {
return "null pointer found in row " + std::to_string(i);
}
// detect element
if (schema[i][0][0] != '<' && schema[i][0][0] != '>') {
// first 3 pointers required
if (!schema[i][1] || !schema[i][2]) {
return absl::StrFormat("expected element, found null pointers"
"in row %d, element %s", i, schema[i][0]);
}
// check type
if (schema[i][1][0] != '!' && schema[i][1][0] != '?' &&
schema[i][1][0] != '*' && schema[i][1][0] != 'R') {
return absl::StrFormat("invalid type in row %d, element %s",
i, schema[i][0]);
}
// number of attributes
int nattr = 0;
if (!absl::SimpleAtoi(schema[i][2], &nattr)) {
return absl::StrFormat("unparseable number of attributes in"
" row %d, element %s", i, schema[i][0]);
} else if (nattr < 0 || nattr > mjXATTRNUM - 3) {
return absl::StrFormat("invalid number of attributes in"
" row %d, element %s", i, schema[i][0]);
}
// attribute pointers
for (int j = 0; j < nattr; j++) {
if (!schema[i][3 + j]) {
return absl::StrFormat("null attribute %d in"
" row %d, element %s", j, i, schema[i][0]);
}
}
}
}
// process sub-elements of complex element
if (nrow > 1) {
// check for bracketed block
if (schema[1][0][0] != '<' || schema[nrow - 1][0][0] != '>') {
return "expected brackets after complex element";
}
// parse block into simple and complex elements
int start = 2;
while (start < nrow - 1) {
int end = start;
// look for bracketed block at start + 1
if (schema[start + 1][0][0] == '<') {
// look for corresponding closing bracket
int cnt = 0;
while (end <= nrow - 1) {
if (schema[end][0][0] == '<') {
cnt++;
} else if (schema[end][0][0] == '>') {
cnt--;
if (cnt == 0) {
break;
}
}
end++;
}
// closing bracket not found
if (end > nrow - 1) {
return "matching closing bracket not found";
}
}
// recursively check for error
auto error = IsValidSchemaFormat(schema + start, end - start + 1);
if (error.has_value()) {
return error;
}
// proceed with next subelement
start = end + 1;
}
}
return std::nullopt;
}
TEST_F(XMLSchemaTest, MjcfSchemaTest) {
auto error = IsValidSchemaFormat(MJCF, nMJCF);
auto error_msg = error.value_or("");
EXPECT_EQ(error_msg, "");
ASSERT_FALSE(error.has_value());
}
} // namespace
} // namespace mujoco