Sam Haves
f5d3ce3451
Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern. Encoders serialize an mjSpec + mjModel to an mjResource for a given format. New API functions: - mjp_registerEncoder: globally register an encoder - mjp_defaultEncoder: zero-initialize an encoder struct - mjp_findEncoder: look up an encoder by filename extension or content type The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and returns 0 on success. Writing to mjResource keeps symmetry with the decoder reading from mjResource and leaves the door open for writable resource providers. PiperOrigin-RevId: 889187898 Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
135 lines
3.9 KiB
C++
135 lines
3.9 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for encoder plugins.
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#include <cstdio>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjplugin.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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struct FakeEncoderOutput {
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int nbody;
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int ngeom;
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int njnt;
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char resource_name[512];
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};
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int FakeEncode(const mjSpec* s, const mjModel* m, const mjVFS* vfs,
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mjResource* resource) {
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auto* output = new FakeEncoderOutput;
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output->nbody = m->nbody;
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output->ngeom = m->ngeom;
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output->njnt = m->njnt;
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std::snprintf(output->resource_name, sizeof(output->resource_name), "%s",
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resource->name);
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resource->data = output;
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return sizeof(FakeEncoderOutput);
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}
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void CloseResource(mjResource* resource) {
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delete static_cast<FakeEncoderOutput*>(resource->data);
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delete resource;
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}
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mjpEncoder FakeEncoder() {
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mjpEncoder encoder;
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mjp_defaultEncoder(&encoder);
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encoder.content_type = "model/fakeformat";
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encoder.extension = ".fakeformat|.alsoFakeFormat";
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encoder.encode = FakeEncode;
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encoder.close_resource = CloseResource;
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return encoder;
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}
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using EncoderPluginTest = MujocoTest;
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TEST_F(EncoderPluginTest, RegisterAndFindByExtension) {
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mjpEncoder encoder = FakeEncoder();
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mjp_registerEncoder(&encoder);
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const mjpEncoder* found = mjp_findEncoder("output.fakeformat", nullptr);
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ASSERT_THAT(found, testing::NotNull());
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EXPECT_EQ(found->encode, FakeEncode);
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}
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TEST_F(EncoderPluginTest, FindByAlternateExtension) {
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const mjpEncoder* found = mjp_findEncoder("output.alsoFakeFormat", nullptr);
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ASSERT_THAT(found, testing::NotNull());
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EXPECT_EQ(found->encode, FakeEncode);
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}
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TEST_F(EncoderPluginTest, FindByContentType) {
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const mjpEncoder* found = mjp_findEncoder(nullptr, "model/fakeformat");
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ASSERT_THAT(found, testing::NotNull());
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EXPECT_EQ(found->encode, FakeEncode);
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}
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TEST_F(EncoderPluginTest, FindUnknownExtensionReturnsNull) {
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const mjpEncoder* found = mjp_findEncoder("output.unknown", nullptr);
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EXPECT_THAT(found, testing::IsNull());
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}
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TEST_F(EncoderPluginTest, DefaultEncoderIsZeroed) {
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mjpEncoder encoder;
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mjp_defaultEncoder(&encoder);
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EXPECT_EQ(encoder.content_type, nullptr);
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EXPECT_EQ(encoder.extension, nullptr);
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EXPECT_EQ(encoder.encode, nullptr);
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}
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TEST_F(EncoderPluginTest, EncodeModel) {
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mjSpec* spec = mj_makeSpec();
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mjsBody* world = mjs_findBody(spec, "world");
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mjsBody* body = mjs_addBody(world, nullptr);
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mjsGeom* geom = mjs_addGeom(body, nullptr);
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geom->size[0] = 1.0;
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geom->size[1] = 1.0;
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geom->size[2] = 1.0;
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mjModel* model = mj_compile(spec, nullptr);
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ASSERT_THAT(model, testing::NotNull());
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const mjpEncoder* found = mjp_findEncoder("output.fakeformat", nullptr);
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ASSERT_THAT(found, testing::NotNull());
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mjResource resource = {};
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resource.name = const_cast<char*>("output.fakeformat");
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int result = found->encode(spec, model, nullptr, &resource);
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EXPECT_GT(result, 0);
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auto* output = static_cast<FakeEncoderOutput*>(resource.data);
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ASSERT_THAT(output, testing::NotNull());
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EXPECT_EQ(output->nbody, 2);
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EXPECT_EQ(output->ngeom, 1);
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EXPECT_EQ(output->njnt, 0);
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EXPECT_STREQ(output->resource_name, "output.fakeformat");
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delete output;
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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}
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} // namespace
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} // namespace mujoco
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