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Keep include elements while parsing XML. No change in behavior.

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PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
This commit is contained in:
Kyle Bayes
2024-02-12 03:53:56 -08:00
committed by Copybara-Service
parent 4e5b194e88
commit ff39d0b812
5 changed files with 460 additions and 365 deletions
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test/xml/xml_native_reader_test.cc
+116 -3
View File
@@ -15,7 +15,9 @@
// Tests for xml/xml_native_reader.cc.
#include <array>
#include <cstring>
#include <limits>
#include <memory>
#include <string>
#include <vector>
@@ -40,6 +42,22 @@ using ::testing::FloatEq;
using XMLReaderTest = MujocoTest;
TEST_F(XMLReaderTest, UniqueElementTest) {
std::array<char, 1024> error;
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag sensor="disable"/>
<flag sensor="disable"/>
</option>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("unique element 'flag' found 2 times"));
}
TEST_F(XMLReaderTest, MemorySize) {
std::array<char, 1024> error;
{
@@ -419,8 +437,103 @@ TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
}
}
}
// ------------------------ test including -------------------------------------
// ---------------------- test frame parsing ---------------------------------
TEST_F(XMLReaderTest, IncludeTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="plane" type="plane" size="1 1 1"/>
<include file="model1.xml"/>
<include file="model2.xml"/>
</worldbody>
</mujoco>)";
static constexpr char xml1[] = R"(
<mujoco>
<geom name="box" type="box" size="1 1 1"/>
</mujoco>)";
static constexpr char xml2[]= R"(
<mujoco>
<geom name="ball" type="sphere" size="2"/>
<include file="model3.xml"/>
</mujoco>)";
static constexpr char xml3[]= R"(
<mujoco>
<geom name="another_box" type="box" size="2 2 2"/>
</mujoco>)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_makeEmptyFileVFS(vfs.get(), "model1.xml", sizeof(xml1));
std::memcpy(vfs->filedata[vfs->nfile - 1], xml1, sizeof(xml1));
mj_makeEmptyFileVFS(vfs.get(), "model2.xml", sizeof(xml2));
std::memcpy(vfs->filedata[vfs->nfile - 1], xml2, sizeof(xml2));
mj_makeEmptyFileVFS(vfs.get(), "model3.xml", sizeof(xml3));
std::memcpy(vfs->filedata[vfs->nfile - 1], xml3, sizeof(xml3));
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(),
error.size(), vfs.get());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, IncludeChildTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="plane" type="plane" size="1 1 1"/>
<include file="model1.xml">
<geom name="box" type="box" size="1 1 1"/>
</include>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("Include element cannot have children"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, IncludeSameFileTest) {
static constexpr char xml[] = R"(
<mujoco>
<include file="model1.xml"/>
<include file="model1.xml"/>
</mujoco>)";
static constexpr char xml1[] = R"(
<mujoco>
<geom name="box" type="box" size="1 1 1"/>
</mujoco>)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_makeEmptyFileVFS(vfs.get(), "model1.xml", sizeof(xml1));
std::memcpy(vfs->filedata[vfs->nfile - 1], xml1, sizeof(xml1));
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size(),
vfs.get());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("File 'model1.xml' already included"));
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
// ------------------------ test frame parsing ---------------------------------
TEST_F(XMLReaderTest, ParseFrame) {
static constexpr char xml[] = R"(
<mujoco>
@@ -453,7 +566,7 @@ TEST_F(XMLReaderTest, ParseFrame) {
mj_deleteModel(m);
}
// ---------------------- test camera parsing ---------------------------------
// ----------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {
static constexpr char xml[] = R"(
@@ -509,7 +622,7 @@ TEST_F(XMLReaderTest, CameraSensorsizeRequiresResolution) {
EXPECT_THAT(error.data(), HasSubstr("line 6"));
}
// ---------------------- test inertia parsing --------------------------------
// ----------------------- test inertia parsing --------------------------------
TEST_F(XMLReaderTest, InvalidInertialOrientation) {
static constexpr char xml[] = R"(