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Refactor VFS logic out of ResourceProvider plugin code.

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PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
This commit is contained in:
Kyle Bayes
2023-08-30 04:46:32 -07:00
committed by Copybara-Service
parent 215433f5f7
commit f86e8b449f
22 changed files with 310 additions and 445 deletions
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src/engine/engine_resource.c
+39 -82
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@@ -16,40 +16,23 @@
#include <limits.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h>
#include "engine/engine_plugin.h"
#include "engine/engine_util_errmem.h"
// file buffer used internally for the OS filesystem
typedef struct {
void* buffer;
int nbuffer;
uint8_t* buffer; // raw bytes from file
size_t nbuffer; // size of buffer in bytes
} file_buffer;
// helper function to fill data from resource provider into provider
static void fillResource(const mjpResourceProvider* provider, mjResource* resource) {
if (provider == NULL) {
resource->read = NULL;
resource->close = NULL;
resource->getdir = NULL;
resource->provider_data = NULL;
} else {
resource->read = provider->read;
resource->close = provider->close;
resource->getdir = provider->getdir;
resource->provider_data = provider->data;
}
}
// open the given resource; if the name doesn't have a prefix matching with a
// resource provider, then the default_provider is used
// if default_provider non-positive, then the OS filesystem is used
mjResource* mju_openResource(const char* name, int default_provider) {
// resource provider, then the OS filesystem is used
mjResource* mju_openResource(const char* name) {
mjResource* resource = (mjResource*) mju_malloc(sizeof(mjResource));
const mjpResourceProvider* provider = NULL;
if (resource == NULL) {
@@ -57,19 +40,22 @@ mjResource* mju_openResource(const char* name, int default_provider) {
return NULL;
}
// clear out resource
memset(resource, 0, sizeof(mjResource));
// copy name
resource->name = mju_malloc(sizeof(char) * (strlen(name) + 1));
if (resource->name == NULL) {
mju_free(resource);
mju_closeResource(resource);
mjERROR("could not allocate memory");
return NULL;
}
strcpy(resource->name, name);
memcpy(resource->name, name, sizeof(char) * (strlen(name) + 1));
// find provider based off prefix of name
provider = mjp_getResourceProvider(name);
if (provider != NULL) {
fillResource(provider, resource);
resource->provider = provider;
if (provider->open(resource)) {
return resource;
}
@@ -77,48 +63,19 @@ mjResource* mju_openResource(const char* name, int default_provider) {
mju_warning("mju_openResource: could not open resource '%s' "
"using a resource provider matching prefix '%s'",
name, provider->prefix);
mju_free(resource->name);
mju_free(resource);
return NULL;
}
// fallback to default provider
if (default_provider > 0) {
provider = mjp_getResourceProviderAtSlot(default_provider);
if (provider == NULL) {
mju_warning("mju_openResource: unknown resource provider at slot %d",
default_provider);
mju_free(resource->name);
mju_free(resource);
return NULL;
}
fillResource(provider, resource);
if (provider->open(resource)) {
return resource;
}
mju_warning("mju_openResource: could not open resource '%s' "
"with default provider at slot %d",
name, default_provider);
mju_free(resource->name);
mju_free(resource);
mju_closeResource(resource);
return NULL;
}
// lastly fallback to OS filesystem
else {
fillResource(NULL, resource);
resource->data = mju_malloc(sizeof(file_buffer));
file_buffer* fb = (file_buffer*) resource->data;
fb->buffer = mju_fileToMemory(name, &(fb->nbuffer));
if (fb->buffer == NULL) {
mju_warning("mju_openResource: unknown file '%s'", name);
mju_free(fb);
mju_free(resource->name);
mju_free(resource);
return NULL;
}
resource->provider = NULL;
resource->data = mju_malloc(sizeof(file_buffer));
file_buffer* fb = (file_buffer*) resource->data;
fb->buffer = mju_fileToMemory(name, &(fb->nbuffer));
if (fb->buffer == NULL) {
mju_warning("mju_openResource: unknown file '%s'", name);
mju_closeResource(resource);
return NULL;
}
return resource;
}
@@ -131,20 +88,20 @@ void mju_closeResource(mjResource* resource) {
return;
}
// use the resource provider to close resource
if (resource->close) {
resource->close(resource);
}
// if provider is NULL, then OS filesystem is used
else {
// use the resource provider close callback
if (resource->provider && resource->provider->close) {
resource->provider->close(resource);
} else {
// clear OS filesystem if present
file_buffer* fb = (file_buffer*) resource->data;
mju_free(fb->buffer);
mju_free(fb);
if (fb) {
if (fb->buffer) mju_free(fb->buffer);
mju_free(fb);
}
}
// free name and resource
mju_free(resource->name);
// free resource
if (resource->name) mju_free(resource->name);
mju_free(resource);
}
@@ -157,12 +114,12 @@ int mju_readResource(mjResource* resource, const void** buffer) {
return 0;
}
if (resource->read) {
return resource->read(resource, buffer);
if (resource->provider) {
return resource->provider->read(resource, buffer);
}
// if provider read callback is NULL, then OS filesystem is used
// if provider is NULL, then OS filesystem is used
const file_buffer* fb = (file_buffer*) resource->data;
*buffer = fb->buffer;
return fb->nbuffer;
@@ -175,14 +132,14 @@ void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
*dir = NULL;
*ndir = 0;
if (!resource) {
if (resource == NULL) {
return;
}
// provider is not OS filesystem
if (resource->read) {
if (resource->getdir) {
resource->getdir(resource, dir, ndir);
if (resource->provider) {
if (resource->provider->getdir) {
resource->provider->getdir(resource, dir, ndir);
}
} else {
*dir = resource->name;
@@ -211,7 +168,7 @@ int mju_dirnamelen(const char* path) {
// read file into memory buffer (allocated here with mju_malloc)
void* mju_fileToMemory(const char* filename, int* filesize) {
void* mju_fileToMemory(const char* filename, size_t* filesize) {
// open file
*filesize = 0;
FILE* fp = fopen(filename, "rb");