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Mujoco_WASM/test/engine/engine_io_test.cc
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Kyle Bayes 1490336955 Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data. 
PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
2026-06-22 04:19:01 -07:00

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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Tests for engine/{engine_io.c and engine_memory.c}.
#include "src/engine/engine_io.h"
#include <array>
#include <cstdint>
#include <cstdio>
#include <cstring>
#include <filesystem> // NOLINT
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest-spi.h> // IWYU pragma: keep
#include <gtest/gtest.h>
#include <absl/strings/str_format.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_memory.h"
#include "src/engine/engine_thread.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::ContainsRegex; // NOLINT(misc-unused-using-decls) asan only
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
using EngineIoTest = MujocoTest;
TEST_F(EngineIoTest, VerifySizeModel) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
std::filesystem::path temp_file =
(std::filesystem::temp_directory_path() / "model.mjb");
mj_saveModel(model.get(), temp_file.string().c_str(), NULL, 0);
std::uintmax_t file_size = std::filesystem::file_size(temp_file);
int model_size = mj_sizeModel(model.get());
std::filesystem::remove(temp_file);
EXPECT_EQ(file_size, model_size);
}
TEST_F(EngineIoTest, MakeDataLoadsQpos0) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
model->qpos0[0] = 1;
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
EXPECT_EQ(data->qpos[0], 1);
}
TEST_F(EngineIoTest, MakeDataLoadsMocapBodies) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body mocap="true" pos="42 0 42">
<geom type="sphere" size="0.1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
EXPECT_EQ(data->mocap_pos[0], 42);
}
TEST_F(EngineIoTest, MakeDataReturnsNullOnFailure) {
constexpr char xml[] = "<mujoco/>";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
// fail mj_makeData intentionally with a bad size
model->nbody = -1;
MockWarningHandler warning_handler;
warning_handler.ExpectWarnings();
MjDataPtr data = MakeData(model);
EXPECT_THAT(data, IsNull());
}
TEST_F(EngineIoTest, ResetVariableSizes) {
constexpr char xml[] = "<mujoco/>";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(model.get(), NotNull()) << "Failed to create mjData";
// don't call mj_forward, vars should be reset
EXPECT_EQ(data->ne, 0);
EXPECT_EQ(data->nf, 0);
EXPECT_EQ(data->nefc, 0);
EXPECT_EQ(data->nJ, 0);
EXPECT_EQ(data->nA, 0);
EXPECT_EQ(data->ncon, 0);
}
TEST_F(EngineIoTest, MakeDataResetsAllArenaPointerSizes) {
constexpr char xml[] = "<mujoco />";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
// without calling mj_forward, all array sizes should be zero.
EXPECT_EQ(data->parena, 0) << "expecting empty arena";
#define X(type, name, nr, nc) \
EXPECT_EQ(nr* nc, 0) << "expecting (" #nr " x " #nc ") to be zero";
#undef MJ_D
#undef MJ_M
#define MJ_D(name) data->name
#define MJ_M(name) model->name
MJDATA_ARENA_POINTERS;
#undef MJ_D
#undef MJ_M
#define MJ_D(n) n
#define MJ_M(n) n
#undef X
}
TEST_F(EngineIoTest, MjvCopyModel) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="tet" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="tet"/>
</worldbody>
</mujoco>
)";
char error[1024];
MjModelPtr model1 = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model1.get(), NotNull()) << error;
mjModel* model2 = mj_copyModel(nullptr, model1.get());
ASSERT_THAT(model2, NotNull()) << error;
model1->mesh_vert[0] = 0.1;
model1->geom_rgba[0] = 0.2;
mj_copyModel(model2, model1.get());
EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1);
EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.2);
model1->mesh_vert[0] = 0.3;
model1->geom_rgba[0] = 0.4;
mjv_copyModel(model2, model1.get());
EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1); // unchanged
EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.4);
mj_deleteModel(model2);
}
TEST_F(EngineIoTest, MjvCopyData) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="0 0 0.8">
<freejoint/>
<geom type="sphere" size="0.1"/>
</body>
<geom type="plane" size="1 1 1"/>
</worldbody>
</mujoco>
)";
char error[1024];
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data1 = MakeData(model);
mj_forward(model.get(), data1.get());
EXPECT_THAT(data1->efc_J, NotNull());
mjData* data2 = mj_copyData(nullptr, model.get(), data1.get());
EXPECT_THAT(data2->efc_J, NotNull());
mj_deleteData(data2);
data2 = mjv_copyData(nullptr, model.get(), data1.get());
EXPECT_THAT(data2->efc_J, IsNull());
mj_deleteData(data2);
}
using ValidateReferencesTest = MujocoTest;
TEST_F(ValidateReferencesTest, BodyReferences) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
model->jnt_bodyid[0] = 2;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("jnt_bodyid"));
}
TEST_F(ValidateReferencesTest, AddressRange) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
model->body_jntnum[1] = 3;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("body_jntadr"));
model->body_jntnum[1] = 2;
// Could be more strict and test for -1, but at the moment the code is a bit
// lenient.
model->body_jntadr[1] = -2;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("body_jntadr"));
}
TEST_F(ValidateReferencesTest, AddressRangeNegativeNum) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
// jntadr + jntnum is within safe range, but jntnum is negative.
model->body_jntadr[1] += 5;
model->body_jntnum[1] -= 5;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("body_jntnum"));
}
TEST_F(ValidateReferencesTest, GeomCondim) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1" condim="6"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
model->geom_condim[0] = 7;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("geom_condim"));
model->geom_condim[0] = -1;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("geom_condim"));
}
TEST_F(ValidateReferencesTest, HField) {
static const char xml[] = R"(
<mujoco>
<asset>
<hfield name="h" nrow="2" ncol="3" size="1 1 1 1" />
</asset>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
model->hfield_adr[0] = -2;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("hfield_adr"));
model->hfield_adr[0] = 0;
model->hfield_ncol[0] = 4;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("hfield_adr"));
}
TEST_F(ValidateReferencesTest, Texture) {
static const char xml[] = R"(
<mujoco>
<asset>
<texture name="t" type="2d" width="2" height="3" builtin="flat" />
</asset>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
model->tex_adr[0] = -2;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tex_adr"));
model->tex_adr[0] = 0;
model->tex_height[0] = 4;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tex_adr"));
}
TEST_F(ValidateReferencesTest, GeomPairs) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom name="geom0" size="1"/>
</body>
<body>
<geom name="geom1" size="1"/>
<geom name="geom2" size="1"/>
<geom name="geom3" size="1"/>
</body>
</worldbody>
<contact>
<pair geom1="geom0" geom2="geom3"/>
</contact>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
// Invalid geomid=4
model->pair_signature[0] = (1 << 16) | 5;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("pair_body1"));
model->pair_signature[0] = (5 << 16) | 1;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("pair_body2"));
}
TEST_F(ValidateReferencesTest, SensorsAddress) {
// The test will likely only catch sensor size errors for the last sensor
// in the model, so iterate over possible last sensors, instead of adding
// them all into the same model.
static const char xml_template[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint name="slider" type="slide" axis="0 0 1"
limited="true" range="-.2 .5"/>
<geom name="geom1" size="1"/>
<site name="site1"/>
</body>
</worldbody>
<sensor>
%s
</sensor>
</mujoco>
)";
std::vector<std::string> sensor_strings{
"<framepos objtype='site' objname='site1'/>",
"<rangefinder site='site1'/>",
"<gyro site='site1'/>",
"<touch site='site1'/>",
"<force site='site1'/>",
"<torque site='site1'/>",
"<jointlimitfrc joint='slider'/>",
"<accelerometer site='site1'/>",
"<subtreeangmom body='body1'/>",
};
for (const std::string& sensor_string : sensor_strings) {
std::string xml = absl::StrFormat(xml_template, sensor_string);
std::array<char, 1024> error;
MjModelPtr model =
LoadModelFromString(xml.c_str(), error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
}
}
TEST_F(ValidateReferencesTest, SensorsAddressUser) {
static const char xml[] = R"(
<mujoco>
<sensor>
<user dim="3" user="1 2 3 4 5" />
<user dim="2" />
<user dim="1" />
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
}
TEST_F(ValidateReferencesTest, SensorsObj) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint/>
<geom size="1"/>
<site name="site1"/>
</body>
</worldbody>
<sensor>
<framepos objtype="site" objname="site1" reftype="body" refname="body1"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
model->sensor_objtype[0] = -1;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_objtype"));
model->sensor_objtype[0] = mjOBJ_SITE;
model->sensor_objid[0] = model->nsite;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_objid"));
model->sensor_objid[0] = 0;
model->sensor_reftype[0] = -1;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_reftype"));
model->sensor_reftype[0] = mjOBJ_BODY;
model->sensor_refid[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_refid"));
}
TEST_F(ValidateReferencesTest, MoreBodiesThanGeoms) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom name="geom0" size="1"/>
</body>
<body>
<geom name="geom1" size="1"/>
</body>
</worldbody>
<contact>
<pair geom1="geom1" geom2="geom0"/>
</contact>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
}
TEST_F(ValidateReferencesTest, BodyExcludes) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1" />
<body name="body2" />
</worldbody>
<contact>
<exclude body1="body1" body2="body2"/>
</contact>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
// Invalid bodyid=3
model->exclude_signature[0] = (1 << 16) | 4;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("exclude_body1"));
model->exclude_signature[0] = (4 << 16) | 2;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("exclude_body2"));
}
TEST_F(ValidateReferencesTest, EqualityConstraints) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint name="joint1"/>
<geom name="geom1" size="1"/>
</body>
<body name="body2">
<joint/>
<joint name="joint2"/>
<geom size="1"/>
<geom size="1"/>
<geom name="geom2" size="1"/>
</body>
</worldbody>
<tendon>
<fixed name="tendon1"><joint joint="joint1" coef="1"/></fixed>
<fixed><joint joint="joint1" coef="1"/></fixed>
<fixed><joint joint="joint1" coef="1"/></fixed>
<fixed><joint joint="joint1" coef="1"/></fixed>
<fixed name="tendon2"><joint joint="joint1" coef="1"/></fixed>
</tendon>
<equality>
<connect anchor="0 0 0" body1="body1" />
<weld body1="body1" body2="body2" />
<joint joint1="joint1"/>
<joint joint1="joint1" joint2="joint2"/>
<tendon tendon1="tendon1"/>
<tendon tendon1="tendon1" tendon2="tendon2"/>
</equality>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
// connect constraint
model->eq_obj1id[0] = -1;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
model->eq_obj1id[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
model->eq_obj1id[0] = 1;
model->eq_obj2id[0] = -2;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
model->eq_obj2id[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
model->eq_obj2id[0] = 0;
// weld constraint
model->eq_obj1id[1] = -1;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
model->eq_obj1id[1] = model->nbody;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
model->eq_obj1id[1] = 1;
model->eq_obj2id[1] = -2;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
model->eq_obj2id[1] = model->nbody;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
model->eq_obj2id[1] = model->nbody - 1;
}
TEST_F(ValidateReferencesTest, Tuples) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint name="joint1"/>
<geom size="1"/>
</body>
<body name="body2">
<joint/>
<joint name="joint2"/>
<geom size="1"/>
</body>
</worldbody>
<custom>
<tuple name="tuple">
<element objtype="body" objname="body1"/>
<element objtype="joint" objname="joint2"/>
</tuple>
</custom>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
model->tuple_objtype[0] = -1;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tuple_objtype"));
model->tuple_objtype[0] = mjOBJ_BODY;
model->tuple_objid[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tuple_objid"));
model->tuple_objid[0] = 1;
}
TEST_F(EngineIoTest, CanMarkAndFreeStack) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
auto pstack_before = data->pstack;
mj_markStack(data.get());
EXPECT_GT(data->pstack, pstack_before);
mj_freeStack(data.get());
EXPECT_EQ(data->pstack, pstack_before);
}
TEST_F(EngineIoTest, LargeMemory) {
constexpr char xml[] = R"(
<mujoco>
<size memory="2400M"/>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
// allocate 2.3G of mjtNums
mj_markStack(data.get());
size_t num = 2300000000 / sizeof(mjtNum);
mjtNum* testNum = mj_stackAllocNum(data.get(), num);
testNum[num - 1] = 1;
mj_freeStack(data.get());
// allocate 2.3G of bytes
mj_markStack(data.get());
num = 2300000000;
char* testByte = (char*)mj_stackAllocByte(data.get(), num, alignof(char));
testByte[num - 1] = 1;
mj_freeStack(data.get());
}
TEST_F(EngineIoTest, VeryLargeMemory) {
constexpr char xml[] = R"(
<mujoco>
<size memory="8G"/>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
if (!model.get()) {
// in some test environments, 8GB is too large
EXPECT_THAT(error.data(), HasSubstr("Could not allocate memory"));
} else {
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
// allocate 7G of mjtNums
mj_markStack(data.get());
size_t num = 7516192768ull / sizeof(mjtNum);
mjtNum* testNum = mj_stackAllocNum(data.get(), num);
testNum[num - 1] = 1;
mj_freeStack(data.get());
// allocate 7G of bytes
mj_markStack(data.get());
num = 7516192768ull;
char* testByte = (char*)mj_stackAllocByte(data.get(), num, alignof(char));
testByte[num - 1] = 1;
mj_freeStack(data.get());
}
}
struct TestFunctionArgs {
int stack_output[1000];
int arena_output[1000];
};
void TestFunction(const mjModel* m, mjData* d, void* args, int i, int j) {
TestFunctionArgs* test_args = static_cast<TestFunctionArgs*>(args);
mj_markStack(d);
int* test_ints = mj_stackAllocInt(d, 10);
test_ints[0] = j;
test_args->stack_output[j] = test_ints[0];
mj_freeStack(d);
}
TEST_F(EngineIoTest, TestStackShardingForThreads) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
mju_threadpool(data.get(), 10);
constexpr int kTasks = 1000;
TestFunctionArgs test_function_args;
mju_dispatch(model.get(), data.get(), TestFunction, &test_function_args,
kTasks);
for (int i = 0; i < kTasks; ++i) {
EXPECT_EQ(i, test_function_args.stack_output[i]);
}
}
#ifdef ADDRESS_SANITIZER
void MarkFreeStack(mjData* d, bool free) {
mj_markStack(d);
if (free) {
mj_freeStack(d);
}
}
TEST_F(EngineIoTest, CanDetectStackFrameLeakage) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
// MarkFreeStack correctly calls mj_freeStack, should not error.
MarkFreeStack(data.get(), /* free= */ true);
// MarkFreeStack calls mj_markStack without mj_freeStack, the next call to
// mj_freeStack should detect the stack frame leakage.
mj_markStack(data.get());
MarkFreeStack(data.get(), /* free= */ false);
EXPECT_THAT(
MjuErrorMessageFrom(mj_freeStack)(data.get()),
ContainsRegex(
"mj_markStack in MarkFreeStack at .*engine_io_test\\.cc.* has no "
"corresponding mj_freeStack"));
// Dangling stack frames should be detected in mj_deleteData.
mj_resetData(model.get(), data.get());
mj_markStack(data.get());
EXPECT_THAT(
MjuErrorMessageFrom(mj_deleteData)(data.get()),
ContainsRegex(
"mj_markStack in .+EngineIoTest_CanDetectStackFrameLeakage.+ has no "
"corresponding mj_freeStack"));
mj_resetData(model.get(), data.get());
}
TEST_F(EngineIoTest, RedZoneAlignmentTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
mj_markStack(data.get());
mj_stackAllocByte(data.get(), 1, 1);
mj_stackAllocByte(data.get(), 1, 1);
mj_freeStack(data.get());
}
#endif
// Regression test: crafted binary model with overflow-inducing sizes must be
// safely rejected (not cause heap overflow). This exercises the overflow checks
// in safeAddToBufferSize on all compilers including MSVC.
TEST_F(EngineIoTest, LoadModelBufferRejectsOverflowingSizes) {
// construct a minimal valid-looking .mjb header
int header[5];
header[0] = 20; // ID
header[1] = sizeof(mjtNum); // floating point size
// We need the correct nsize and nptr from the current build.
// Rather than hardcoding, we create and save a trivial model, then mutate
// the sizes to trigger overflow.
constexpr char xml[] = "<mujoco />";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
// save model to a buffer
int bufsize = mj_sizeModel(model.get());
ASSERT_GT(bufsize, 0);
std::vector<char> buffer(bufsize);
mj_saveModel(model.get(), nullptr, buffer.data(), bufsize);
// locate the size fields in the buffer (after 5-int header)
const int header_bytes = 5 * sizeof(int);
ASSERT_GT(bufsize, header_bytes + 77 * (int)sizeof(mjtSize));
// mutate a size field to an extremely large value that would overflow
// when multiplied by sizeof(type). ntexdata is a good candidate since it
// is a byte count field and gets multiplied by sizeof(mjtByte)==1, but other
// fields multiply by sizeof(int) or sizeof(mjtNum), making overflow easier.
// Use memcpy to avoid undefined behavior from unaligned access.
const int size_offset = header_bytes + 49 * sizeof(mjtSize);
// set to overflow-inducing value
mjtSize overflow_val = static_cast<mjtSize>(SIZE_MAX / 2);
std::memcpy(buffer.data() + size_offset, &overflow_val, sizeof(mjtSize));
// also need to update the nbuffer field (last size) to avoid the early
// nbuffer mismatch check — but the overflow should be caught earlier
// in safeAddToBufferSize/mj_makeModel before we reach that check.
// Intercept warnings to prevent them from failing the test.
MockWarningHandler warning_handler;
warning_handler.ExpectWarnings();
// attempt to load — should return NULL, not crash
mjModel* bad_model = mj_loadModelBuffer(buffer.data(), bufsize);
EXPECT_THAT(bad_model, IsNull())
<< "Expected mj_loadModelBuffer to reject overflow-inducing sizes";
// clean up if somehow it succeeded
if (bad_model) {
mj_deleteModel(bad_model);
}
}
} // namespace
} // namespace mujoco
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