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// Copyright 2021 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 "test/fixture.h"
#include <filesystem>
#include <fstream>
#include <memory>
#include <string_view>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/base/const_init.h>
#include <absl/strings/str_cat.h>
#include <absl/synchronization/mutex.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
namespace mujoco {
namespace {
ABSL_CONST_INIT static absl::Mutex handlers_mutex(absl::kConstInit);
static int guard_count ABSL_GUARDED_BY(handlers_mutex) = 0;
void default_mj_error_handler(const char* msg) {
FAIL() << "mju_user_error: " << msg;
}
void default_mj_warning_handler(const char* msg) {
ADD_FAILURE() << "mju_user_warning: " << msg;
}
} // namespace
MujocoErrorTestGuard::MujocoErrorTestGuard() {
absl::MutexLock lock(&handlers_mutex);
if (++guard_count == 1) {
mju_user_error = default_mj_error_handler;
mju_user_warning = default_mj_warning_handler;
}
}
MujocoErrorTestGuard::~MujocoErrorTestGuard() {
absl::MutexLock lock(&handlers_mutex);
if (--guard_count == 0) {
mju_user_error = nullptr;
mju_user_warning = nullptr;
}
}
const std::string GetTestDataFilePath(std::string_view path) {
return std::string(path);
}
const std::string GetModelPath(std::string_view path) {
return absl::StrCat("../model/", path);
}
mjModel* LoadModelFromString(std::string_view xml, char* error,
int error_size) {
static constexpr char file[] = "filename.xml";
// mjVFS structs need to be allocated on the heap, because it's ~2MB
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_makeEmptyFileVFS(vfs.get(), file, xml.size());
int file_idx = mj_findFileVFS(vfs.get(), file);
memcpy(vfs->filedata[file_idx], xml.data(), xml.size());
mjModel* m = mj_loadXML(file, vfs.get(), error, error_size);
mj_deleteFileVFS(vfs.get(), file);
return m;
}
const std::string GetFileContents(const char* path) {
std::ifstream ifs;
ifs.open(path, std::ifstream::in);
EXPECT_FALSE(ifs.fail());
std::ostringstream sstream;
sstream << ifs.rdbuf();
return sstream.str();
}
const std::string SaveAndReadXml(const mjModel* model) {
EXPECT_THAT(model, testing::NotNull());
constexpr int kMaxPathLen = 1024;
std::string path_template =
std::filesystem::temp_directory_path().append("tmp.XXXXXX").string();
EXPECT_LT(path_template.size(), kMaxPathLen);
char filepath[kMaxPathLen];
mju_strncpy(filepath, path_template.c_str(), path_template.size() + 1);
#if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200112L
int fd = mkstemp(filepath);
EXPECT_NE(fd, -1) << std::strerror(errno);
#elif defined(_WIN32)
EXPECT_NE(_mktemp_s(filepath), EINVAL);
#endif
mj_saveLastXML(filepath, model, nullptr, 0);
std::string contents = GetFileContents(filepath);
#if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200112L
close(fd);
#endif
std::remove(filepath);
return contents;
}
} // namespace mujoco
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