Haroon Qureshi
1a0fe29c41
Otherwise, if you try to open a random file in studio, it will crash. PiperOrigin-RevId: 865372002 Change-Id: I96d3121b6de792daaff53155ea2436ac3f6668db
125 lines
3.8 KiB
C++
125 lines
3.8 KiB
C++
// Copyright 2022 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 "user/user_resource.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <cstddef>
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#include <cstdio>
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#include <cstring>
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#include <ctime>
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#include <string>
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#include <string_view>
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#include <mujoco/mujoco.h>
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#include <mujoco/mjplugin.h>
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#include "engine/engine_plugin.h"
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#include "user/user_util.h"
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#include "user/user_vfs.h"
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mjResource* mju_openResource(const char* dir, const char* name,
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const mjVFS* vfs, char* error, size_t nerror) {
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// TODO: Update API to use non-const pointer. Unfortunately, while this is
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// ABI stable, it will cause compiler errors in user code that is const
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// correct.
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mjVFS* non_const_vfs = const_cast<mjVFS*>(vfs);
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// TODO: Eventually, we should make `vfs` a required argument. In the
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// meantime, when passing in a nullptr VFS, we will create a VFS dynamically
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// that self-destructs when the resource is closed (or if the resource could
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// not be opened).
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if (non_const_vfs == nullptr) {
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mjVFS* local_vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
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mj_defaultVFS(local_vfs);
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mujoco::user::VFS::Upcast(local_vfs)->SetToSelfDestruct([](mjVFS* ptr) {
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mj_deleteVFS(ptr);
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mju_free(ptr);
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});
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non_const_vfs = local_vfs;
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}
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mjResource* resource =
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mujoco::user::VFS::Upcast(non_const_vfs)->Open(dir ? dir : "", name);
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if (error) {
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if (resource) {
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error[0] = '\0';
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} else {
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std::snprintf(error, nerror, "Error opening file '%s'", name);
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}
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}
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return resource;
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}
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void mju_closeResource(mjResource* resource) {
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if (resource && resource->vfs) {
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mujoco::user::VFS::Upcast(resource->vfs)->Close(resource);
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}
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}
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int mju_readResource(mjResource* resource, const void** buffer) {
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if (resource && resource->vfs) {
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return mujoco::user::VFS::Upcast(resource->vfs)->Read(resource, buffer);
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}
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return -1; // default (error reading bytes)
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}
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void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
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*dir = nullptr;
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*ndir = 0;
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if (resource && resource->name) {
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// ensure prefix is included even if there is no separator in the
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// resource name
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int prefix_len = 0;
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const mjpResourceProvider* provider = resource->provider;
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if (provider && provider->prefix) {
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prefix_len = strlen(provider->prefix) + 1;
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}
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*dir = resource->name;
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*ndir = prefix_len;
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for (int i = prefix_len; resource->name[i]; ++i) {
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if (resource->name[i] == '/' || resource->name[i] == '\\') {
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*ndir = i + 1;
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}
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}
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}
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}
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int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
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if (resource && resource->provider && resource->provider->modified) {
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return resource->provider->modified(resource, timestamp);
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}
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return 1; // default (assume modified)
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}
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mjSpec* mju_decodeResource(mjResource* resource, const char* content_type, const mjVFS* vfs) {
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const mjpDecoder* decoder = nullptr;
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if (content_type) {
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decoder = mjp_findDecoder(resource, content_type);
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} else {
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decoder = mjp_findDecoder(resource, mjuu_extToContentType(resource->name).c_str());
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}
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if (!decoder) {
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mju_warning("Could not find decoder for resource '%s'", resource->name);
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return nullptr;
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}
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return decoder->decode(resource, vfs);
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}
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