Kyle Bayes
1490336955
PiperOrigin-RevId: 935980153 Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
228 lines
7.0 KiB
C++
228 lines
7.0 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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// Tests for xml/xml_api.cc.
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#include "src/xml/xml_api.h"
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#include <array>
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#include <cstddef>
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#include <cstring>
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#include <string>
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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/mjspec.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::HasSubstr;
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using ::testing::IsNull;
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using ::testing::NotNull;
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using ::testing::StartsWith;
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static 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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<body>
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<joint/>
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<geom size="0.5"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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// ---------------------------- test mj_loadXML --------------------------------
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using LoadXmlTest = MujocoTest;
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TEST_F(LoadXmlTest, EmptyModel) {
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static constexpr char xml[] = "<mujoco/>";
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MjModelPtr model = LoadModelFromString(xml, 0, 0);
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ASSERT_THAT(model.get(), NotNull());
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EXPECT_EQ(model->nq, 0);
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EXPECT_EQ(model->nv, 0);
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EXPECT_EQ(model->nu, 0);
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EXPECT_EQ(model->na, 0);
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EXPECT_EQ(model->nbody, 1); // worldbody exists even in empty model
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MjDataPtr data = MakeData(model);
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EXPECT_THAT(data, NotNull());
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mj_step(model.get(), data.get());
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}
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TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
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static constexpr char invalid_xml[] = "<mujoc";
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std::array<char, 1024> error;
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MjModelPtr model =
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LoadModelFromString(invalid_xml, error.data(), error.size());
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EXPECT_THAT(model.get(), IsNull()) << "Expected model loading to fail.";
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EXPECT_GT(std::strlen(error.data()), 0);
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if (model.get()) {
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}
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}
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TEST_F(LoadXmlTest, MultipleBodies) {
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std::array<char, 1000> 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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EXPECT_EQ(model->nbody, 3);
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MjDataPtr data = MakeData(model);
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EXPECT_THAT(data, NotNull());
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mj_step(model.get(), data.get());
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}
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using SaveLastXmlTest = MujocoTest;
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TEST_F(SaveLastXmlTest, EmptyModel) {
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static constexpr char xml[] = "<mujoco/>";
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MjModelPtr model = LoadModelFromString(xml, 0, 0);
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MjDataPtr data = MakeData(model);
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std::array<char, 1024> error;
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error.data()[0] = '\0';
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testing::internal::CaptureStdout();
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mj_saveLastXML(nullptr, model.get(), error.data(), error.size());
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EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith("<mujoco"));
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}
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TEST_F(LoadXmlTest, NullFileFails) {
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std::array<char, 1000> error;
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mjSpec* spec = mj_parseXML(nullptr, nullptr, error.data(), error.size());
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EXPECT_THAT(spec, IsNull()) << "Expected model loading to fail.";
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EXPECT_THAT(error.data(), HasSubstr("filename argument required"));
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}
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TEST_F(LoadXmlTest, InvalidFileFails) {
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std::array<char, 1000> error;
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mjSpec* spec = mj_parseXML("invalid", nullptr, error.data(), error.size());
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EXPECT_THAT(spec, IsNull()) << "Expected model loading to fail.";
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EXPECT_THAT(error.data(), HasSubstr("Error opening file"));
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}
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TEST_F(MujocoTest, SaveXmlShortString) {
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std::array<char, 1000> error;
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mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
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EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
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mjModel* model = mj_compile(spec, 0);
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EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
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std::array<char, 10> out;
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EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
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error.size()),
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273);
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EXPECT_STREQ(error.data(), "Output string too short, should be at least 274");
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mj_deleteSpec(spec);
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mj_deleteModel(model);
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}
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TEST_F(MujocoTest, SaveXml) {
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std::array<char, 1000> error;
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mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
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EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
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mjModel* model = mj_compile(spec, 0);
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EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
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std::array<char, 274> out;
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EXPECT_THAT(mj_saveXMLString(NULL, out.data(), out.size(), error.data(),
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error.size()),
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-1);
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EXPECT_STREQ(error.data(), "Cannot write empty model");
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EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
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error.size()),
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0)
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<< error.data();
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mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
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EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
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mjModel* saved_model = mj_compile(saved_spec, 0);
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EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
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mj_deleteSpec(spec);
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mj_deleteSpec(saved_spec);
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mj_deleteModel(model);
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mj_deleteModel(saved_model);
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}
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TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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<mesh inertia="shell"/>
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</default>
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<asset>
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<mesh name="test_mesh" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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</asset>
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<worldbody>
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<body>
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<geom mesh="test_mesh" type="mesh"/>
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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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mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
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EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
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mjModel* model = mj_compile(spec, 0);
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EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
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std::array<char, 1024> out;
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EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
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error.size()),
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0)
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<< error.data();
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mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
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EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
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mjModel* saved_model = mj_compile(saved_spec, 0);
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EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
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// check that the mesh has inertia="shell"
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EXPECT_THAT(out.data(), HasSubstr(R"(<mesh inertia="shell"/>)"));
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mj_deleteSpec(spec);
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mj_deleteSpec(saved_spec);
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mj_deleteModel(model);
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mj_deleteModel(saved_model);
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}
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TEST_F(MujocoTest, FreeLastXml) {
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static constexpr char xml[] = "<mujoco/>";
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MjModelPtr model = LoadModelFromString(xml, 0, 0);
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ASSERT_THAT(model.get(), NotNull());
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ASSERT_NE(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
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mj_freeLastXML();
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ASSERT_EQ(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
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}
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} // namespace
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} // namespace mujoco
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