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Stricter parsing of XML array attributes.

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PiperOrigin-RevId: 451456510
Change-Id: I2556d4365762378261c04d3c9f1942166fbd156e
This commit is contained in:
Alessio Quaglino
2022-05-27 12:50:09 -07:00
committed by Copybara-Service
parent 0741273c86
commit f3453cf87f
4 changed files with 120 additions and 172 deletions
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test/xml/xml_native_reader_test.cc
+86 -1
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@@ -128,6 +128,70 @@ TEST_F(UserDataTest, InvalidNUserSensor) {
EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
}
TEST_F(UserDataTest, InvalidArrayElement) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1.0 0.0 0.0 [[1]]"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("problem reading attribute 'axisangle'"));
}
TEST_F(UserDataTest, InvalidArrayLength) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1 0 0 0 asd"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("has too much data"));
}
TEST_F(UserDataTest, InvalidNumber) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1 0.1.2.3"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("problem reading attribute"));
}
TEST_F(UserDataTest, AllowsSpaces) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1 0 0 0 "/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, Not(IsNull()));
mj_deleteModel(model);
}
// ------------- test relative frame sensor parsing ----------------------------
using RelativeFrameSensorParsingTest = MujocoTest;
@@ -207,7 +271,28 @@ TEST_F(ActuatorTest, IncompleteActlimited) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("actrange"));
EXPECT_THAT(error.data(), HasSubstr("attribute 'actrange' does not have enough data"));
}
TEST_F(ActuatorTest, ReadsByte) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" dyntype="filter" actlimited="true" actrange="-1 1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, Not(IsNull()));
EXPECT_EQ(*(model->actuator_actlimited), (mjtByte)(1 & 0xFF));
mj_deleteModel(model);
}
} // namespace