File size: 4,039 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 | // Copyright 2024 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 <optional>
#include <string>
#include <gtest/gtest.h>
#include "src/xml/xml_native_reader.h"
#include "src/xml/xml_util.h"
#include "test/fixture.h"
#include <absl/strings/numbers.h>
#include <absl/strings/str_format.h>
namespace mujoco {
namespace {
using XMLSchemaTest = MujocoTest;
static std::optional<std::string> IsValidSchemaFormat(
const char* schema[][mjXATTRNUM], unsigned nrow) {
if (schema[0][0][0] == '<' || schema[0][0][0] == '>') {
return "expected element, found bracket";
}
// check entire schema for null pointers
for (int i = 0; i < nrow; i++) {
// base pointers
if (!schema[i][0]) {
return "null pointer found in row " + std::to_string(i);
}
// detect element
if (schema[i][0][0] != '<' && schema[i][0][0] != '>') {
// first 3 pointers required
if (!schema[i][1] || !schema[i][2]) {
return absl::StrFormat("expected element, found null pointers"
"in row %d, element %s", i, schema[i][0]);
}
// check type
if (schema[i][1][0] != '!' && schema[i][1][0] != '?' &&
schema[i][1][0] != '*' && schema[i][1][0] != 'R') {
return absl::StrFormat("invalid type in row %d, element %s",
i, schema[i][0]);
}
// number of attributes
int nattr = 0;
if (!absl::SimpleAtoi(schema[i][2], &nattr)) {
return absl::StrFormat("unparseable number of attributes in"
" row %d, element %s", i, schema[i][0]);
} else if (nattr < 0 || nattr > mjXATTRNUM - 3) {
return absl::StrFormat("invalid number of attributes in"
" row %d, element %s", i, schema[i][0]);
}
// attribute pointers
for (int j = 0; j < nattr; j++) {
if (!schema[i][3 + j]) {
return absl::StrFormat("null attribute %d in"
" row %d, element %s", j, i, schema[i][0]);
}
}
}
}
// process sub-elements of complex element
if (nrow > 1) {
// check for bracketed block
if (schema[1][0][0] != '<' || schema[nrow - 1][0][0] != '>') {
return "expected brackets after complex element";
}
// parse block into simple and complex elements
int start = 2;
while (start < nrow - 1) {
int end = start;
// look for bracketed block at start + 1
if (schema[start + 1][0][0] == '<') {
// look for corresponding closing bracket
int cnt = 0;
while (end <= nrow - 1) {
if (schema[end][0][0] == '<') {
cnt++;
} else if (schema[end][0][0] == '>') {
cnt--;
if (cnt == 0) {
break;
}
}
end++;
}
// closing bracket not found
if (end > nrow - 1) {
return "matching closing bracket not found";
}
}
// recursively check for error
auto error = IsValidSchemaFormat(schema + start, end - start + 1);
if (error.has_value()) {
return error;
}
// proceed with next subelement
start = end + 1;
}
}
return std::nullopt;
}
TEST_F(XMLSchemaTest, MjcfSchemaTest) {
auto error = IsValidSchemaFormat(MJCF, nMJCF);
auto error_msg = error.value_or("");
EXPECT_EQ(error_msg, "");
ASSERT_FALSE(error.has_value());
}
} // namespace
} // namespace mujoco
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