Yuval Tassa
d80a847bae
PiperOrigin-RevId: 927174846 Change-Id: Ia8b8b2c8593133d8910399be755e614282bf3252
151 lines
4.5 KiB
C++
151 lines
4.5 KiB
C++
// Copyright 2026 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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// Tests for recompiling multiple files.
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#include <algorithm>
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#include <array>
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#include <cctype>
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#include <cstddef>
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#include <filesystem> // NOLINT
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#include <string>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/strings/match.h>
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#include <mujoco/mujoco.h>
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#include <mujoco/mjspec.h>
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#include "src/xml/xml_api.h"
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#include "src/xml/xml_numeric_format.h"
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#include "test/compare_model.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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std::vector<std::string> GetRecompileTestModels() {
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std::vector<std::string> models;
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std::string ext(".xml");
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for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
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for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
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if (p.path().extension() == ext) {
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std::string xml = p.path().string();
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if (absl::StrContains(xml, "malformed_") ||
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absl::StrContains(xml, "_fail") ||
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absl::StrContains(xml, "touch_grid") ||
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absl::StrContains(xml, "perf") ||
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absl::StrContains(xml, "cow")) {
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continue;
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}
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models.push_back(xml);
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}
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}
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}
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return models;
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}
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class RecompileCompareTest : public MujocoTest,
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public ::testing::WithParamInterface<std::string> {
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public:
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};
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TEST_P(RecompileCompareTest, RecompileCompare) {
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std::string xml = GetParam();
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std::string field = "";
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FullFloatPrecision increase_precision;
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// load spec
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std::array<char, 1000> err;
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mjSpec* s = mj_parseXML(xml.c_str(), 0, err.data(), err.size());
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if (!s) {
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GTEST_SKIP() << "Failed to load " << xml << ": " << err.data();
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}
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// copy spec
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mjSpec* s_copy = mj_copySpec(s);
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// compare signature
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EXPECT_EQ(s->element->signature, s_copy->element->signature) << xml;
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// compile twice and compare
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mjModel* m_old = mj_compile(s, nullptr);
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if (!m_old) {
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mj_deleteSpec(s);
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GTEST_SKIP() << "Failed to compile " << xml << ": " << mjs_getError(s);
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}
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mjModel* m_new = mj_compile(s, nullptr);
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mjModel* m_copy = mj_compile(s_copy, nullptr);
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// compare signature
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EXPECT_EQ(m_old->signature, m_new->signature) << xml;
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EXPECT_EQ(m_old->signature, m_copy->signature) << xml;
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ASSERT_THAT(m_new, NotNull())
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<< "Failed to recompile " << xml << ": " << mjs_getError(s);
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ASSERT_THAT(m_copy, NotNull())
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<< "Failed to compile " << xml << ": " << mjs_getError(s_copy);
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mjtNum tol = 0;
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EXPECT_LE(CompareModel(m_old, m_new, field), tol)
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<< "Compiled and recompiled models are different!\n"
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<< "Affected file " << xml << '\n'
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<< "Different field: " << field << '\n';
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EXPECT_LE(CompareModel(m_old, m_copy, field), tol)
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<< "Original and copied models are different!\n"
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<< "Affected file " << xml << '\n'
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<< "Different field: " << field << '\n';
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// copy to a new spec, compile and compare
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mjSpec* s_copy2 = mj_copySpec(s);
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mjModel* m_copy2 = mj_compile(s_copy2, nullptr);
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ASSERT_THAT(m_copy2, NotNull())
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<< "Failed to compile " << xml << ": " << mjs_getError(s_copy2);
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EXPECT_LE(CompareModel(m_old, m_copy2, field), tol)
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<< "Original and re-copied models are different!\n"
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<< "Affected file " << xml << '\n'
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<< "Different field: " << field << '\n';
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mj_deleteModel(m_new);
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mj_deleteModel(m_copy);
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mj_deleteModel(m_copy2);
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mj_deleteSpec(s_copy);
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mj_deleteSpec(s_copy2);
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mj_deleteSpec(s);
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mj_deleteModel(m_old);
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}
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INSTANTIATE_TEST_SUITE_P(
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AllModels, RecompileCompareTest,
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::testing::ValuesIn(GetRecompileTestModels()),
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[](const ::testing::TestParamInfo<std::string>& info) {
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std::string name = std::filesystem::path(info.param).filename().string();
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std::replace_if(
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name.begin(), name.end(),
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[](char c) { return !std::isalnum(c); }, '_');
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return name + "_" + std::to_string(info.index);
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});
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} // namespace
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} // namespace mujoco
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