Saran Tunyasuvunakool
94a8705ad0
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function). PiperOrigin-RevId: 562625645 Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
121 lines
3.9 KiB
C++
121 lines
3.9 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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#ifndef MUJOCO_TEST_FIXTURE_H_
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#define MUJOCO_TEST_FIXTURE_H_
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#include <csetjmp>
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#include <cstring>
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#include <optional>
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#include <string>
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#include <vector>
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#include <gtest/gtest.h>
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#include <absl/strings/string_view.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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extern "C" {
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MJAPI void _mjPRIVATE__set_tls_error_fn(decltype(mju_user_error));
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MJAPI decltype(mju_user_error) _mjPRIVATE__get_tls_error_fn();
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}
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namespace mujoco {
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// Installs and uninstalls error callbacks on MuJoCo that fail the currently
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// running test if triggered. Prefer the use of MujocoTest, unless using a
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// test fixture is not possible.
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class MujocoErrorTestGuard {
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public:
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// Sets up error and warning callbacks on MuJoCo that will fail the test if
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// triggered.
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MujocoErrorTestGuard();
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// Clears up the callbacks from the constructor.
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~MujocoErrorTestGuard();
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};
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// A test fixture which simplifies writing tests for the MuJoCo C API.
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// By default, any MuJoCo operation which triggers a warning or error will
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// trigger a test failure.
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class MujocoTest : public ::testing::Test {
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private:
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MujocoErrorTestGuard error_guard;
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};
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template <typename Return, typename... Args>
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auto MjuErrorMessageFrom(Return (*func)(Args...)) {
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thread_local std::jmp_buf current_jmp_buf;
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thread_local char err_msg[1000];
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auto* old_error_handler = _mjPRIVATE__get_tls_error_fn();
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auto* new_error_handler = +[](const char* msg) -> void {
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std::strncpy(err_msg, msg, sizeof(err_msg));
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std::longjmp(current_jmp_buf, 1);
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};
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return [func, old_error_handler,
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new_error_handler](Args... args) -> std::string {
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if (setjmp(current_jmp_buf) == 0) {
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err_msg[0] = '\0';
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_mjPRIVATE__set_tls_error_fn(new_error_handler);
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func(args...);
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}
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_mjPRIVATE__set_tls_error_fn(old_error_handler);
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return err_msg;
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};
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}
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// Returns a path to a data file, under the mujoco/test directory.
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const std::string GetTestDataFilePath(absl::string_view path);
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// Returns a path to a data file, under the mujoco/model directory.
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const std::string GetModelPath(absl::string_view path);
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// Returns a newly-allocated mjModel, loaded from the contents of xml.
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// On failure returns nullptr and populates the error array if present.
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mjModel* LoadModelFromString(absl::string_view xml, char* error = nullptr,
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int error_size = 0, mjVFS* vfs = nullptr);
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// Returns a newly-allocated mjModel, loaded from the contents in model_path.
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// On failure it asserts that model is null.
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mjModel* LoadModelFromPath(const char* model_path);
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// Returns a string loaded from first saving the model given an input.
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const std::string SaveAndReadXml(const mjModel* model);
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// Adds control noise.
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std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
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mjtNum ctrlnoise = 0.01);
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// Installs all plugins
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class PluginTest : public MujocoTest {
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public:
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// load plugin library
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PluginTest() : MujocoTest() {
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mj_loadAllPluginLibraries(
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std::string(std::getenv("MUJOCO_PLUGIN_DIR")).c_str(), +[](const char* filename, int first, int count) {
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std::printf("Plugins registered by library '%s':\n", filename);
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for (int i = first; i < first + count; ++i) {
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std::printf(" %s\n", mjp_getPluginAtSlot(i)->name);
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}
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});
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}
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};
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} // namespace mujoco
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#endif // MUJOCO_TEST_FIXTURE_H_
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