Kyle Bayes
1490336955
PiperOrigin-RevId: 935980153 Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
86 lines
2.2 KiB
C++
86 lines
2.2 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 "src/engine/engine_print.h"
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#include <array>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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#ifdef MEMORY_SANITIZER
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#include <sanitizer/msan_interface.h>
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#endif
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namespace mujoco {
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namespace {
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#ifdef MEMORY_SANITIZER
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using ::testing::Eq;
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using ::testing::Not;
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#endif
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using ::testing::NotNull;
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using EnginePrintTest = MujocoTest;
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constexpr const char* NullFile() {
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#ifdef _WIN32
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return "NUL";
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#else
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return "/dev/null";
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#endif
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}
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TEST_F(EnginePrintTest, PrintDataWorksWithMsan) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model.get(), NotNull())
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<< "Failed to load model: " << error.data();
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MjDataPtr data = MakeData(model);
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ASSERT_THAT(data, NotNull());
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// Mark qacc_smooth[0] as initialized.
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data->qacc_smooth[0] = 0;
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// This will read "uninitialized" values from mjData, but shouldn't fail.
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mj_printData(model.get(), data.get(), NullFile());
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// After mj_printData, poisoned status should be restored correctly, so
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// qacc_smooth[0] should be marked initialzed.
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EXPECT_EQ(data->qacc_smooth[0], 0);
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#ifdef MEMORY_SANITIZER
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EXPECT_THAT(__msan_test_shadow(data->buffer, data->nbuffer), Not(Eq(-1)))
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<< "Expecting some of data->buffer to be marked uninitialized";
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#endif
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}
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} // namespace
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} // namespace mujoco
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