Kyle Bayes
24c1ec9aec
PiperOrigin-RevId: 546849864 Change-Id: I799ea3fcd723cf036f82ef5c1ef8152c314072dc
90 lines
2.5 KiB
C++
90 lines
2.5 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 <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/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::IsNull;
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using ::testing::NotNull;
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using ::testing::StartsWith;
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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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mjModel* model = LoadModelFromString(xml, 0, 0);
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ASSERT_THAT(model, 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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mjData* data = mj_makeData(model);
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EXPECT_THAT(data, NotNull());
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mj_step(model, data);
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mj_deleteData(data);
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mj_deleteModel(model);
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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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mjModel* model = LoadModelFromString(invalid_xml, error.data(), error.size());
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EXPECT_THAT(model, IsNull()) << "Expected model loading to fail.";
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EXPECT_GT(std::strlen(error.data()), 0);
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if (model) {
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mj_deleteModel(model);
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}
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}
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// TODO(nimrod): Add more tests for mj_loadXML.
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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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mjModel* model = LoadModelFromString(xml, 0, 0);
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mjData* data = mj_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, error.data(), error.size());
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EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith("<mujoco"));
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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