Kevin Zakka
6f9725a1da
The function called tinyxml2's LoadFile directly, which only works on the OS file system. Reading through mju_openResource lets it work against any registered backend (VFS, HTTP, github:, ...).
109 lines
3.5 KiB
C++
109 lines
3.5 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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#include <map>
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#include <set>
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#include <string>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.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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TEST_F(MujocoTest, GetXMLDependenciesTest) {
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static const std::vector<std::string> kModelPaths = {
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GetTestDataFilePath("xml/testdata/many_dependencies.xml"),
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GetTestDataFilePath("xml/testdata/parent_model.xml"),
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GetTestDataFilePath("xml/testdata/child.xml"),
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GetTestDataFilePath("xml/testdata/meshes/mesh1.obj"),
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GetTestDataFilePath("xml/testdata/meshes/flex.obj"),
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GetTestDataFilePath("xml/testdata/meshes/cube.skn"),
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};
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mjStringVec dependencies;
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mju_getXMLDependencies(kModelPaths[0].c_str(), &dependencies);
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std::set<std::string> dependency_set{dependencies.begin(),
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dependencies.end()};
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std::set<std::string> expected_dependency_set{kModelPaths.begin(),
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kModelPaths.end()};
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EXPECT_EQ(dependency_set, expected_dependency_set);
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}
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// Custom resource provider that serves XML strings from an in-memory map,
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// used to exercise the non-filesystem code path.
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namespace memxml {
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static const std::map<std::string, std::string>* g_files = nullptr;
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int Open(mjResource* resource) {
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return g_files && g_files->count(resource->name) ? 1 : 0;
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}
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int Read(mjResource* resource, const void** buffer) {
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auto it = g_files->find(resource->name);
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if (it == g_files->end()) return -1;
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*buffer = it->second.data();
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return static_cast<int>(it->second.size());
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}
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void Close(mjResource* resource) {}
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} // namespace memxml
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// Verifies mju_getXMLDependencies works against a non-filesystem resource
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// provider (the case the WASM/HTTP build relies on).
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TEST_F(MujocoTest, GetXMLDependenciesViaResourceProvider) {
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const std::map<std::string, std::string> files = {
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{"memxml:/scene.xml",
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"<mujoco>\n"
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" <include file=\"child.xml\"/>\n"
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" <compiler meshdir=\"meshes\"/>\n"
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" <asset>\n"
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" <mesh name=\"m\" file=\"m.obj\"/>\n"
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" </asset>\n"
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"</mujoco>"},
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{"memxml:/child.xml",
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"<mujoco>\n"
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" <asset>\n"
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" <texture name=\"t\" type=\"2d\" file=\"t.png\"/>\n"
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" </asset>\n"
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"</mujoco>"},
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};
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memxml::g_files = &files;
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mjpResourceProvider provider = {
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.prefix = "memxml",
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.open = memxml::Open,
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.read = memxml::Read,
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.close = memxml::Close,
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};
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ASSERT_GT(mjp_registerResourceProvider(&provider), 0);
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mjStringVec dependencies;
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mju_getXMLDependencies("memxml:/scene.xml", &dependencies);
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std::set<std::string> dep_set(dependencies.begin(), dependencies.end());
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EXPECT_THAT(dep_set, testing::UnorderedElementsAre(
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"memxml:/scene.xml",
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"memxml:/child.xml",
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"memxml:/meshes/m.obj",
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"memxml:/t.png"));
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memxml::g_files = nullptr;
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}
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} // namespace
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} // namespace mujoco
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