Kyle Bayes
c7a8b104f9
PiperOrigin-RevId: 616152275 Change-Id: I417f9b204eaa1eb9fc68a15927f86031dcd20575
128 lines
3.8 KiB
C++
128 lines
3.8 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 <array>
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#include <cstdio>
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#include <memory>
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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/mujoco.h>
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#include "src/engine/engine_resource.h"
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#include "src/engine/engine_vfs.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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using EngineVfsTest = MujocoTest;
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TEST_F(EngineVfsTest, AddFile) {
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file1 = "activation.xml";
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std::string file2 = "damper.xml";
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std::string file3 = "refsite.xml";
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std::FILE* fp1 = std::fopen((dir + file1).c_str(), "r");
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ASSERT_THAT(fp1, NotNull()) << "Input file1 missing.";
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std::fclose(fp1);
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std::FILE* fp2 = std::fopen((dir + file2).c_str(), "r");
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ASSERT_THAT(fp2, NotNull()) << "Input file2 missing.";
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std::fclose(fp2);
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std::FILE* fp3 = std::fopen((dir + file3).c_str(), "r");
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ASSERT_THAT(fp3, NotNull()) << "Input file3 missing.";
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std::fclose(fp3);
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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EXPECT_THAT(vfs->nfile, 0);
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EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file1.c_str()), 0);
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EXPECT_THAT(vfs->nfile, 1);
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EXPECT_THAT(vfs->filename[0], file1);
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EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file2.c_str()), 0);
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EXPECT_THAT(vfs->nfile, 2);
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EXPECT_THAT(vfs->filename[0], file1);
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EXPECT_THAT(vfs->filename[1], file2);
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EXPECT_THAT(mj_addFileVFS(vfs.get(), dir.c_str(), file3.c_str()), 0);
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EXPECT_THAT(vfs->nfile, 3);
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EXPECT_THAT(vfs->filename[0], file1);
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EXPECT_THAT(vfs->filename[1], file2);
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EXPECT_THAT(vfs->filename[2], file3);
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mj_deleteFileVFS(vfs.get(), file1.c_str());
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EXPECT_THAT(vfs->nfile, 2);
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EXPECT_THAT(vfs->filename[0], file2);
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EXPECT_THAT(vfs->filename[1], file3);
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mj_deleteFileVFS(vfs.get(), file3.c_str());
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EXPECT_THAT(vfs->nfile, 1);
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EXPECT_THAT(vfs->filename[0], file2);
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mj_deleteFileVFS(vfs.get(), file2.c_str());
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EXPECT_THAT(vfs->nfile, 0);
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mj_deleteVFS(vfs.get());
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}
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TEST_F(EngineVfsTest, AddBuffer) {
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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std::string buffer = "<mujoco/>";
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mj_addBufferVFS(vfs.get(), "model", static_cast<const void*>(buffer.c_str()),
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buffer.size());
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML("model", vfs.get(), error.data(), error.size());
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EXPECT_THAT(model, NotNull());
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mj_deleteModel(model);
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mj_deleteVFS(vfs.get());
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}
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TEST_F(EngineVfsTest, Timestamps) {
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static constexpr char cube[] = R"(
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v -0.500000 -0.500000 0.500000
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v 0.500000 -0.500000 0.500000
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v -0.500000 0.500000 0.500000
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v 0.500000 0.500000 0.500000
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v -0.500000 0.500000 -0.500000
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v 0.500000 0.500000 -0.500000
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v -0.500000 -0.500000 -0.500000
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v 0.500000 -0.500000 -0.500000)";
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
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mjResource* resource = mju_openVfsResource("cube.obj", vfs.get());
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// same timestamps
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EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
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// different timestamps
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EXPECT_EQ(mju_isModifiedResource(resource, "QQ=="), 1);
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mju_closeResource(resource);
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mj_deleteVFS(vfs.get());
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}
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} // namespace
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} // namespace mujoco
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