Move schema definition validation from runtime to a test.

PiperOrigin-RevId: 606280564 Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
2024-02-12 09:48:44 -08:00
parent b6873ec8a2
commit eabd4c06f9
5 changed files with 157 additions and 79 deletions
@@ -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