File size: 3,589 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 | // Copyright 2023 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_util_container.h"
#include <array>
#include <cstddef>
#include <mujoco/mjdata.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using testing::NotNull;
template <int prev_size, typename T, int N, int capacity>
constexpr int GetExpectedStackUsageBytes() {
if constexpr (N <= 0) {
return prev_size;
} else {
constexpr auto RoundUpToAlignment =
[](int x, int alignment) {
return alignment * (x / alignment + ((x % alignment) ? 1 : 0));
};
constexpr int size_with_arraylist = RoundUpToAlignment(
prev_size + sizeof(mjArrayList), alignof(mjArrayList));
constexpr int size_with_buffer = RoundUpToAlignment(
size_with_arraylist + capacity * sizeof(T), alignof(std::max_align_t));
return GetExpectedStackUsageBytes<size_with_buffer, T, N - capacity,
2 * capacity>();
}
}
TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
std::array<char, 1024> error;
mjModel* m = LoadModelFromString("<mujoco/>", error.data(), error.size());
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
mjData* d = mj_makeData(m);
mj_markStack(d);
using DataType = int;
constexpr int kInitialCapacity = 10;
mjArrayList* array_list =
mju_arrayListCreate(d, sizeof(DataType), kInitialCapacity);
constexpr int kNumElements = 35;
for (int i = 0; i < kNumElements; ++i) {
mju_arrayListAdd(array_list, &i);
}
EXPECT_EQ(mju_arrayListSize(array_list), kNumElements);
constexpr int kFrameMarkerSize = 2 * sizeof(size_t) + sizeof(void*);
constexpr int kExpectedMaxUseStack =
GetExpectedStackUsageBytes<kFrameMarkerSize, DataType, kNumElements,
kInitialCapacity>();
EXPECT_EQ(d->maxuse_stack, kExpectedMaxUseStack);
for (int i = 0; i < kNumElements; ++i) {
EXPECT_EQ(*static_cast<int*>(mju_arrayListAt(array_list, i)), i);
}
EXPECT_EQ(mju_arrayListAt(array_list, kNumElements), nullptr);
EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr);
mj_freeStack(d);
mj_deleteData(d);
mj_deleteModel(m);
}
TEST(TestMjArrayList, ZeroInitialCapacity) {
mjModel* m = LoadModelFromString("<mujoco/>", nullptr, 0);
ASSERT_THAT(m, NotNull()) << "Failed to load model";
mjData* d = mj_makeData(m);
mj_markStack(d);
mjArrayList* array_list =
mju_arrayListCreate(d, sizeof(double), /*initial_capacity=*/0);
EXPECT_EQ(mju_arrayListSize(array_list), 0);
for (int i = 0; i < 35; ++i) {
double value = i;
mju_arrayListAdd(array_list, &value);
}
EXPECT_EQ(mju_arrayListSize(array_list), 35);
for (int i = 0; i < 35; ++i) {
EXPECT_EQ(*static_cast<double*>(mju_arrayListAt(array_list, i)), i);
}
EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
mj_freeStack(d);
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco
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