Format memory warning in human-friendly way.

PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491

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);