Yuval Tassa
6f8bb5ef55
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API. PiperOrigin-RevId: 933361650 Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
// Copyright 2021 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 "test/fixture.h"
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#include <array>
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#include <gmock/gmock.h>
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#include <gtest/gtest-spi.h>
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#include <gtest/gtest.h>
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#include <mujoco/mujoco.h>
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namespace mujoco {
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namespace {
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// Tests for the MujocoTest test fixture itself.
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using MujocoTestTest = MujocoTest;
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class MujocoErrorTestGuardTest : public ::testing::Test {};
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using ::testing::IsNull;
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TEST_F(MujocoTestTest, MjUserWarningFailsTest) {
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EXPECT_NONFATAL_FAILURE(mju_warning("Warning."), "Warning.");
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}
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TEST_F(MujocoTestTest, BenignWarningDoesNotFailTest) {
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// Warnings in the benign list should not trigger test failures
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mju_warning(
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"flex 'soft' is not rigid and has no equality constraints "
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"or passive forces");
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}
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TEST_F(MujocoTestTest, MjUserErrorFailsTest) {
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EXPECT_FATAL_FAILURE(mju_error("Error."), "Error.");
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}
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TEST_F(MujocoErrorTestGuardTest, NestedErrorGuards) {
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{
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MujocoErrorTestGuard guard1;
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{
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MujocoErrorTestGuard guard2;
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}
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EXPECT_FATAL_FAILURE(mju_error("Error."), "Error.");
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EXPECT_NONFATAL_FAILURE(mju_warning("Warning."), "Warning.");
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}
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EXPECT_THAT(mju_user_error, IsNull());
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EXPECT_THAT(mju_user_warning, IsNull());
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}
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TEST_F(MujocoTestTest, MockFilesystemTest) {
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MockFilesystem fs("MockFilesystemTest");
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std::array<unsigned char, 3> data = {'a', 'b', 'c'};
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fs.ChangeDirectory("tmp");
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fs.AddFile("../tmp2/file2", data.data(), data.size());
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fs.AddFile("./file1", data.data(), data.size());
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ASSERT_TRUE(fs.FileExists("/tmp/file1"));
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ASSERT_TRUE(fs.FileExists("/tmp2/file2"));
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fs.ChangeDirectory("../tmp2");
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ASSERT_TRUE(fs.FileExists("../tmp/file1"));
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ASSERT_TRUE(fs.FileExists("file2"));
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}
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} // namespace
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} // namespace mujoco
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