Saran Tunyasuvunakool
4929077211
PiperOrigin-RevId: 562844184 Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
111 lines
3.5 KiB
C++
111 lines
3.5 KiB
C++
// Copyright 2023 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 "src/engine/engine_util_container.h"
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#include <array>
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#include <cstddef>
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#include <mujoco/mjdata.h>
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#include <gmock/gmock.h>
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#include <gtest/gtest.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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using testing::NotNull;
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template <int prev_size, typename T, int N, int capacity>
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constexpr int GetExpectedStackUsageBytes() {
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if constexpr (N <= 0) {
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return prev_size;
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} else {
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constexpr auto RoundUpToAlignment =
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[](int x, int alignment) {
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return alignment * (x / alignment + ((x % alignment) ? 1 : 0));
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};
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constexpr int size_with_arraylist = RoundUpToAlignment(
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prev_size + sizeof(mjArrayList), alignof(mjArrayList));
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constexpr int size_with_buffer = RoundUpToAlignment(
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size_with_arraylist + capacity * sizeof(T), alignof(std::max_align_t));
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return GetExpectedStackUsageBytes<size_with_buffer, T, N - capacity,
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2 * capacity>();
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}
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}
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TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
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std::array<char, 1024> error;
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mjModel* m = LoadModelFromString("<mujoco/>", error.data(), error.size());
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ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
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mjData* d = mj_makeData(m);
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mj_markStack(d);
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using DataType = int;
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constexpr int kInitialCapacity = 10;
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mjArrayList* array_list =
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mju_arrayListCreate(d, sizeof(DataType), kInitialCapacity);
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constexpr int kNumElements = 35;
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for (int i = 0; i < kNumElements; ++i) {
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mju_arrayListAdd(array_list, &i);
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}
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EXPECT_EQ(mju_arrayListSize(array_list), kNumElements);
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constexpr int kFrameMarkerSize = 2 * sizeof(size_t) + sizeof(void*);
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constexpr int kExpectedMaxUseStack =
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GetExpectedStackUsageBytes<kFrameMarkerSize, DataType, kNumElements,
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kInitialCapacity>();
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EXPECT_EQ(d->maxuse_stack, kExpectedMaxUseStack);
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for (int i = 0; i < kNumElements; ++i) {
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EXPECT_EQ(*static_cast<int*>(mju_arrayListAt(array_list, i)), i);
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}
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EXPECT_EQ(mju_arrayListAt(array_list, kNumElements), nullptr);
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EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr);
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mj_freeStack(d);
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mj_deleteData(d);
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mj_deleteModel(m);
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}
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TEST(TestMjArrayList, ZeroInitialCapacity) {
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mjModel* m = LoadModelFromString("<mujoco/>", nullptr, 0);
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ASSERT_THAT(m, NotNull()) << "Failed to load model";
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mjData* d = mj_makeData(m);
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mj_markStack(d);
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mjArrayList* array_list =
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mju_arrayListCreate(d, sizeof(double), /*initial_capacity=*/0);
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EXPECT_EQ(mju_arrayListSize(array_list), 0);
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for (int i = 0; i < 35; ++i) {
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double value = i;
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mju_arrayListAdd(array_list, &value);
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}
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EXPECT_EQ(mju_arrayListSize(array_list), 35);
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for (int i = 0; i < 35; ++i) {
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EXPECT_EQ(*static_cast<double*>(mju_arrayListAt(array_list, i)), i);
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}
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EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
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mj_freeStack(d);
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mj_deleteData(d);
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mj_deleteModel(m);
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}
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} // namespace
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} // namespace mujoco
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