Format memory warning in human-friendly way.

PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491

doc/APIreference.rst

@@ -6601,6 +6601,17 @@ Convert type name to type id (mjtObj).
 
 .. _mju_warningText:
 
+mju_writeNumBytes
+~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   const char* mju_writeNumBytes(const int nbytes);
+
+Construct a human readable number of bytes using standard letter suffix.
+
+.. _mju_warningText:
+
 mju_warningText
 ~~~~~~~~~~~~~~~
 

include/mujoco/mujoco.h

@@ -1095,6 +1095,9 @@ MJAPI const char* mju_type2Str(int type);
 // Convert type name to type id (mjtObj).
 MJAPI int mju_str2Type(const char* str);
 
+// Return human readable number of bytes using standard letter suffix.
+MJAPI const char* mju_writeNumBytes(const size_t nbytes);
+
 // Construct a warning message given the warning type and info.
 MJAPI const char* mju_warningText(int warning, size_t info);
 

introspect/functions.py

@@ -6937,6 +6937,20 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Convert type name to type id (mjtObj).',
      )),
+    ('mju_writeNumBytes',
+     FunctionDecl(
+         name='mju_writeNumBytes',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='nbytes',
+                 type=ValueType(name='size_t', is_const=True),
+             ),
+         ),
+         doc='Return human readable number of bytes using standard letter suffix.',  # pylint: disable=line-too-long
+     )),
     ('mju_warningText',
      FunctionDecl(
          name='mju_warningText',

python/mujoco/functions.cc

@@ -1061,6 +1061,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mju_round>(pymodule);
   Def<traits::mju_type2Str>(pymodule);
   Def<traits::mju_str2Type>(pymodule);
+  Def<traits::mju_writeNumBytes>(pymodule);
   Def<traits::mju_warningText>(pymodule);
   Def<traits::mju_isBad>(pymodule);
   DEF_WITH_OMITTED_PY_ARGS(traits::mju_isZero, "n")(

src/engine/engine_macro.h

@@ -33,6 +33,13 @@
 #define mjMAX(a, b)    (((a) > (b)) ? (a) : (b))
 #define mjMIN(a, b)    (((a) < (b)) ? (a) : (b))
 
+// thread local macro
+#ifdef _MSC_VER
+#define mjTHREADLOCAL __declspec(thread)
+#else
+#define mjTHREADLOCAL _Thread_local
+#endif
+
 
 //-------------------------- timer macros ----------------------------------------------------------
 

src/engine/engine_util_errmem.c

@@ -24,6 +24,7 @@
 #include <unistd.h>
 #endif
 
+#include "engine/engine_macro.h"
 //------------------------- cross-platform aligned malloc/free -------------------------------------
 
 static inline void* mju_alignedMalloc(size_t size, size_t align) {
@@ -73,11 +74,6 @@ void mju_clearHandlers(void) {
 
 typedef void (*callback_fn)(const char*);
 
-#ifdef _MSC_VER
-#define mjTHREADLOCAL __declspec(thread)
-#else
-#define mjTHREADLOCAL _Thread_local
-#endif
 static mjTHREADLOCAL callback_fn _mjPRIVATE_tls_error_fn = NULL;
 static mjTHREADLOCAL callback_fn _mjPRIVATE_tls_warning_fn = NULL;
 

src/engine/engine_util_misc.c

@@ -946,9 +946,30 @@ int mju_str2Type(const char* str) {
 
 
 
+// return human readable number of bytes using standard letter suffix
+const char* mju_writeNumBytes(const size_t nbytes) {
+  int i;
+  static mjTHREADLOCAL char message[20];
+  static const char suffix[] = " KMGTPE";
+  for (i=0; i<6; i++) {
+    const size_t bits = (size_t)(1) << (10*(6-i));
+    if (nbytes >= bits && !(nbytes & (bits - 1))) {
+      break;
+    }
+  }
+  if (i<6) {
+    mjSNPRINTF(message, "%zu%c", nbytes >> (10*(6-i)), suffix[6-i]);
+  } else {
+    mjSNPRINTF(message, "%zu", nbytes >> (10*(6-i)));
+  }
+  return message;
+}
+
+
+
 // warning text
 const char* mju_warningText(int warning, size_t info) {
-  static char str[1000];
+  static mjTHREADLOCAL char str[1000];
 
   switch (warning) {
   case mjWARN_INERTIA:
@@ -965,7 +986,7 @@ const char* mju_warningText(int warning, size_t info) {
   case mjWARN_CNSTRFULL:
     mjSNPRINTF(str,
                "Insufficient arena memory for the number of constraints generated. "
-               "Increase arena memory allocation above %zu bytes.", info);
+               "Increase arena memory allocation above %s bytes.", mju_writeNumBytes(info));
     break;
 
   case mjWARN_VGEOMFULL:

src/engine/engine_util_misc.h

@@ -87,6 +87,9 @@ MJAPI const char* mju_type2Str(int type);
 // convert type name to type id (mjtObj)
 MJAPI int mju_str2Type(const char* str);
 
+// return human readable number of bytes using standard letter suffix
+MJAPI const char* mju_writeNumBytes(const size_t nbytes);
+
 // warning text
 MJAPI const char* mju_warningText(int warning, size_t info);
 

src/xml/xml_native_writer.cc

@@ -830,28 +830,7 @@ void mjXWriter::Size(XMLElement* root) {
 
   // write memory
   if (model->memory != -1) {
-    const std::size_t memory = static_cast<std::size_t>(model->memory);
-    const std::vector<std::pair<int, char>> kSuffix = {
-      {60, 'E'}, {50, 'P'}, {40, 'T'}, {30, 'G'}, {20, 'M'}, {10, 'K'},
-    };
-
-    std::ostringstream strm;
-
-    // check for divisibility by each suffixed size
-    for (const auto& [multiplier_bit, suffix_char] : kSuffix) {
-      const std::size_t multiplier = static_cast<std::size_t>(1) << multiplier_bit;
-      if (memory >= multiplier && !(memory & (multiplier - 1))) {
-        strm << (memory >> multiplier_bit) << suffix_char;
-        break;
-      }
-    }
-
-    // doesn't match any suffix, just write the number out as-is
-    if (!strm.tellp()) {
-      strm << memory;
-    }
-
-    WriteAttrTxt(section, "memory", strm.str());
+    WriteAttrTxt(section, "memory", mju_writeNumBytes(model->memory));
   }
 
   // write sizes

test/engine/engine_util_misc_test.cc

@@ -0,0 +1,39 @@
+// Copyright 2021 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.
+
+// Tests for engine/engine_util_solve.c.
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjdata.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using ::testing::HasSubstr;
+
+TEST_F(MujocoTest, PrintsMemoryWarning) {
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 10)), HasSubstr("1K bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 20)), HasSubstr("1M bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)), HasSubstr("1G bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 40)), HasSubstr("1T bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 50)), HasSubstr("1P bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 60)), HasSubstr("1E bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)+1), HasSubstr("1073741825 bytes"));
+}
+
+}  // namespace
+}  // namespace mujoco

unity/Runtime/Bindings/MujocoBindings.cs

@@ -3516,6 +3516,10 @@ public static unsafe extern string mju_type2Str(int type);
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern int mju_str2Type([MarshalAs(UnmanagedType.LPStr)]string str);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+[return: MarshalAs(UnmanagedType.LPStr)]
+public static unsafe extern string mju_writeNumBytes(UIntPtr nbytes);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 [return: MarshalAs(UnmanagedType.LPStr)]
 public static unsafe extern string mju_warningText(int warning, UIntPtr info);