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// Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "src/engine/engine_print.h"
#include <array>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
#ifdef MEMORY_SANITIZER
#include <sanitizer/msan_interface.h>
#endif
namespace mujoco {
namespace {
#ifdef MEMORY_SANITIZER
using ::testing::Eq;
using ::testing::Not;
#endif
using ::testing::NotNull;
using EnginePrintTest = MujocoTest;
constexpr const char* NullFile() {
#ifdef _WIN32
return "NUL";
#else
return "/dev/null";
#endif
}
TEST_F(EnginePrintTest, PrintDataWorksWithMsan) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
// Mark qacc_smooth[0] as initialized.
data->qacc_smooth[0] = 0;
// This will read "uninitialized" values from mjData, but shouldn't fail.
mj_printData(model, data, NullFile());
// After mj_printData, poisoned status should be restored correctly, so
// qacc_smooth[0] should be marked initialzed.
EXPECT_EQ(data->qacc_smooth[0], 0);
#ifdef MEMORY_SANITIZER
EXPECT_THAT(__msan_test_shadow(data->buffer, data->nbuffer), Not(Eq(-1))) <<
"Expecting some of data->buffer to be marked uninitialized";
#endif
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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