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mujoco / data /test /engine /engine_io_test.cc
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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.
// Tests for engine/engine_io.c.
#include "src/engine/engine_io.h"
#include <array>
#include <cstdint>
#include <cstdio>
#include <cstring>
#include <filesystem>
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <gtest/gtest-spi.h> // IWYU pragma: keep
#include <absl/strings/str_format.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_util_errmem.h"
#include "src/thread/thread_pool.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::ContainsRegex; // NOLINT(misc-unused-using-decls) asan only
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
using EngineIoTest = MujocoTest;
TEST_F(EngineIoTest, VerifySizeModel) {
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();
std::filesystem::path temp_file = (
std::filesystem::temp_directory_path() / "model.mjb");
mj_saveModel(model, temp_file.string().c_str(), NULL, 0);
std::uintmax_t file_size = std::filesystem::file_size(temp_file);
int model_size = mj_sizeModel(model);
std::filesystem::remove(temp_file);
mj_deleteModel(model);
EXPECT_EQ(file_size, model_size);
}
TEST_F(EngineIoTest, MakeDataLoadsQpos0) {
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();
model->qpos0[0] = 1;
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
EXPECT_EQ(data->qpos[0], 1);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, MakeDataLoadsMocapBodies) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body mocap="true" pos="42 0 42">
<geom type="sphere" size="0.1"/>
</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());
EXPECT_EQ(data->mocap_pos[0], 42);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, MakeDataReturnsNullOnFailure) {
constexpr char xml[] = "<mujoco/>";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
// fail mj_makeData intentionally with a bad size
model->nbody = -1;
static bool warning;
warning = false;
mju_user_warning = [](const char* error) {
warning = true;
};
mjData* data = mj_makeData(model);
EXPECT_THAT(data, IsNull());
EXPECT_TRUE(warning) << "Expecting warning to be triggered.";
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, ResetVariableSizes) {
constexpr char xml[] = "<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(model, NotNull()) << "Failed to create mjData";
// don't call mj_forward, vars should be reset
EXPECT_EQ(data->ne, 0);
EXPECT_EQ(data->nf, 0);
EXPECT_EQ(data->nefc, 0);
EXPECT_EQ(data->nJ, 0);
EXPECT_EQ(data->nA, 0);
EXPECT_EQ(data->ncon, 0);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, MakeDataResetsAllArenaPointerSizes) {
constexpr char xml[] = "<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());
// without calling mj_forward, all array sizes should be zero.
EXPECT_EQ(data->parena, 0) << "expecting empty arena";
#define X(type, name, nr, nc) \
EXPECT_EQ(nr*nc, 0) << "expecting (" #nr " x " #nc ") to be zero";
#undef MJ_D
#undef MJ_M
#define MJ_D(name) data->name
#define MJ_M(name) model->name
MJDATA_ARENA_POINTERS;
#undef MJ_D
#undef MJ_M
#define MJ_D(n) n
#define MJ_M(n) n
#undef X
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, MjvCopyModel) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="tet" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="tet"/>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model1 = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model1, NotNull()) << error;
mjModel* model2 = mj_copyModel(nullptr, model1);
ASSERT_THAT(model2, NotNull()) << error;
model1->mesh_vert[0] = 0.1;
model1->geom_rgba[0] = 0.2;
mj_copyModel(model2, model1);
EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1);
EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.2);
model1->mesh_vert[0] = 0.3;
model1->geom_rgba[0] = 0.4;
mjv_copyModel(model2, model1);
EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1); // unchanged
EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.4);
mj_deleteModel(model2);
mj_deleteModel(model1);
}
TEST_F(EngineIoTest, MjvCopyData) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="0 0 0.8">
<freejoint/>
<geom type="sphere" size="0.1"/>
</body>
<geom type="plane" size="1 1 1"/>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data1 = mj_makeData(model);
mj_forward(model, data1);
EXPECT_THAT(data1->efc_J, NotNull());
mjData* data2 = mj_copyData(nullptr, model, data1);
EXPECT_THAT(data2->efc_J, NotNull());
mj_deleteData(data2);
data2 = mjv_copyData(nullptr, model, data1);
EXPECT_THAT(data2->efc_J, IsNull());
mj_deleteData(data2);
mj_deleteData(data1);
mj_deleteModel(model);
}
using ValidateReferencesTest = MujocoTest;
TEST_F(ValidateReferencesTest, BodyReferences) {
static const 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();
EXPECT_THAT(mj_validateReferences(model), IsNull());
model->jnt_bodyid[0] = 2;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("jnt_bodyid"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, AddressRange) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<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();
EXPECT_THAT(mj_validateReferences(model), IsNull());
model->body_jntnum[1] = 3;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("body_jntadr"));
model->body_jntnum[1] = 2;
// Could be more strict and test for -1, but at the moment the code is a bit
// lenient.
model->body_jntadr[1] = -2;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("body_jntadr"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, AddressRangeNegativeNum) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<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();
EXPECT_THAT(mj_validateReferences(model), IsNull());
// jntadr + jntnum is within safe range, but jntnum is negative.
model->body_jntadr[1] += 5;
model->body_jntnum[1] -= 5;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("body_jntnum"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, GeomCondim) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1" condim="6"/>
</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();
EXPECT_THAT(mj_validateReferences(model), IsNull());
model->geom_condim[0] = 7;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("geom_condim"));
model->geom_condim[0] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("geom_condim"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, HField) {
static const char xml[] = R"(
<mujoco>
<asset>
<hfield name="h" nrow="2" ncol="3" size="1 1 1 1" />
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
model->hfield_adr[0] = -2;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("hfield_adr"));
model->hfield_adr[0] = 0;
model->hfield_ncol[0] = 4;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("hfield_adr"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, Texture) {
static const char xml[] = R"(
<mujoco>
<asset>
<texture name="t" type="2d" width="2" height="3" builtin="flat" />
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
model->tex_adr[0] = -2;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("tex_adr"));
model->tex_adr[0] = 0;
model->tex_height[0] = 4;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("tex_adr"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, GeomPairs) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom name="geom0" size="1"/>
</body>
<body>
<geom name="geom1" size="1"/>
<geom name="geom2" size="1"/>
<geom name="geom3" size="1"/>
</body>
</worldbody>
<contact>
<pair geom1="geom0" geom2="geom3"/>
</contact>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
// Invalid geomid=4
model->pair_signature[0] = (1 << 16) | 5;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("pair_body1"));
model->pair_signature[0] = (5 << 16) | 1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("pair_body2"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, SensorsAddress) {
// The test will likely only catch sensor size errors for the last sensor
// in the model, so iterate over possible last sensors, instead of adding
// them all into the same model.
static const char xml_template[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint name="slider" type="slide" axis="0 0 1"
limited="true" range="-.2 .5"/>
<geom name="geom1" size="1"/>
<site name="site1"/>
</body>
</worldbody>
<sensor>
%s
</sensor>
</mujoco>
)";
std::vector<std::string> sensor_strings{
"<framepos objtype='site' objname='site1'/>",
"<rangefinder site='site1'/>",
"<gyro site='site1'/>",
"<touch site='site1'/>",
"<force site='site1'/>",
"<torque site='site1'/>",
"<jointlimitfrc joint='slider'/>",
"<accelerometer site='site1'/>",
"<subtreeangmom body='body1'/>",
};
for (const std::string& sensor_string : sensor_strings) {
std::string xml = absl::StrFormat(xml_template, sensor_string);
std::array<char, 1024> error;
mjModel* model =
LoadModelFromString(xml.c_str(), error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
mj_deleteModel(model);
}
}
TEST_F(ValidateReferencesTest, SensorsAddressUser) {
static const char xml[] = R"(
<mujoco>
<sensor>
<user dim="3" user="1 2 3 4 5" />
<user dim="2" />
<user dim="1" />
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, SensorsObj) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint/>
<geom size="1"/>
<site name="site1"/>
</body>
</worldbody>
<sensor>
<framepos objtype="site" objname="site1" reftype="body" refname="body1"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
model->sensor_objtype[0] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("sensor_objtype"));
model->sensor_objtype[0] = mjOBJ_SITE;
model->sensor_objid[0] = model->nsite;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("sensor_objid"));
model->sensor_objid[0] = 0;
model->sensor_reftype[0] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("sensor_reftype"));
model->sensor_reftype[0] = mjOBJ_BODY;
model->sensor_refid[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("sensor_refid"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, MoreBodiesThanGeoms) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom name="geom0" size="1"/>
</body>
<body>
<geom name="geom1" size="1"/>
</body>
</worldbody>
<contact>
<pair geom1="geom1" geom2="geom0"/>
</contact>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, BodyExcludes) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1" />
<body name="body2" />
</worldbody>
<contact>
<exclude body1="body1" body2="body2"/>
</contact>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
// Invalid bodyid=3
model->exclude_signature[0] = (1 << 16) | 4;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("exclude_body1"));
model->exclude_signature[0] = (4 << 16) | 2;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("exclude_body2"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, EqualityConstraints) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint name="joint1"/>
<geom name="geom1" size="1"/>
</body>
<body name="body2">
<joint/>
<joint name="joint2"/>
<geom size="1"/>
<geom size="1"/>
<geom name="geom2" size="1"/>
</body>
</worldbody>
<tendon>
<fixed name="tendon1"><joint joint="joint1" coef="1"/></fixed>
<fixed><joint joint="joint1" coef="1"/></fixed>
<fixed><joint joint="joint1" coef="1"/></fixed>
<fixed><joint joint="joint1" coef="1"/></fixed>
<fixed name="tendon2"><joint joint="joint1" coef="1"/></fixed>
</tendon>
<equality>
<connect anchor="0 0 0" body1="body1" />
<weld body1="body1" body2="body2" />
<joint joint1="joint1"/>
<joint joint1="joint1" joint2="joint2"/>
<tendon tendon1="tendon1"/>
<tendon tendon1="tendon1" tendon2="tendon2"/>
</equality>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
// connect constraint
model->eq_obj1id[0] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj1id"));
model->eq_obj1id[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj1id"));
model->eq_obj1id[0] = 1;
model->eq_obj2id[0] = -2;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj2id"));
model->eq_obj2id[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj2id"));
model->eq_obj2id[0] = 0;
// weld constraint
model->eq_obj1id[1] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj1id"));
model->eq_obj1id[1] = model->nbody;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj1id"));
model->eq_obj1id[1] = 1;
model->eq_obj2id[1] = -2;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj2id"));
model->eq_obj2id[1] = model->nbody;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj2id"));
model->eq_obj2id[1] = model->nbody - 1;
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, Tuples) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<joint name="joint1"/>
<geom size="1"/>
</body>
<body name="body2">
<joint/>
<joint name="joint2"/>
<geom size="1"/>
</body>
</worldbody>
<custom>
<tuple name="tuple">
<element objtype="body" objname="body1"/>
<element objtype="joint" objname="joint2"/>
</tuple>
</custom>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
model->tuple_objtype[0] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("tuple_objtype"));
model->tuple_objtype[0] = mjOBJ_BODY;
model->tuple_objid[0] = model->nbody;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("tuple_objid"));
model->tuple_objid[0] = 1;
mj_deleteModel(model);
}
TEST_F(EngineIoTest, CanMarkAndFreeStack) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
</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());
auto pstack_before = data->pstack;
mj_markStack(data);
EXPECT_GT(data->pstack, pstack_before);
mj_freeStack(data);
EXPECT_EQ(data->pstack, pstack_before);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, LargeMemory) {
constexpr char xml[] = R"(
<mujoco>
<size memory="2400M"/>
</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());
// allocate 2.3G of mjtNums
mj_markStack(data);
size_t num = 2300000000 / sizeof(mjtNum);
mjtNum* testNum = mj_stackAllocNum(data, num);
testNum[num-1] = 1;
mj_freeStack(data);
// allocate 2.3G of bytes
mj_markStack(data);
num = 2300000000;
char* testByte = (char*) mj_stackAllocByte(data, num, alignof(char));
testByte[num-1] = 1;
mj_freeStack(data);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, VeryLargeMemory) {
constexpr char xml[] = R"(
<mujoco>
<size memory="8G"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
if (!model) {
// in some test environments, 8GB is too large
EXPECT_THAT(error.data(), HasSubstr("Could not allocate memory"));
} else {
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
// allocate 7G of mjtNums
mj_markStack(data);
size_t num = 7516192768ull / sizeof(mjtNum);
mjtNum* testNum = mj_stackAllocNum(data, num);
testNum[num-1] = 1;
mj_freeStack(data);
// allocate 7G of bytes
mj_markStack(data);
num = 7516192768ull;
char* testByte = (char*) mj_stackAllocByte(data, num, alignof(char));
testByte[num-1] = 1;
mj_freeStack(data);
mj_deleteData(data);
mj_deleteModel(model);
}
}
struct TestFunctionArgs_ {
mjData* d;
int input;
int stack_output;
int arena_output;
size_t output_thread_worker;
};
typedef TestFunctionArgs_ TestFunctionArgs;
void* TestFunction(void* args) {
TestFunctionArgs* test_args = static_cast<TestFunctionArgs*>(args);
test_args->output_thread_worker =
mju_threadPoolCurrentWorkerId((mjThreadPool*)test_args->d->threadpool);
mj_markStack(test_args->d);
int* test_ints = mj_stackAllocInt(test_args->d, 10);
test_ints[0] = test_args->input;
test_args->stack_output = test_ints[0];
int* test_arena_ints =
(int*)mj_arenaAllocByte(test_args->d, sizeof(int) * 10, alignof(int));
test_arena_ints[0] = test_args->input;
test_args->arena_output = test_arena_ints[0];
mj_freeStack(test_args->d);
return nullptr;
}
TEST_F(EngineIoTest, TestStackShardingForThreads) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
</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());
mjThreadPool* thread_pool = mju_threadPoolCreate(10);
mju_bindThreadPool(data, thread_pool);
constexpr int kTasks = 1000;
TestFunctionArgs test_function_args[kTasks];
mjTask tasks[kTasks];
for (int i = 0; i < kTasks; ++i) {
test_function_args[i].d = data;
test_function_args[i].input = i;
mju_defaultTask(&tasks[i]);
tasks[i].func = TestFunction;
tasks[i].args = &test_function_args[i];
mju_threadPoolEnqueue(thread_pool, &tasks[i]);
}
mj_markStack(data);
int* test_ints = mj_stackAllocInt(data, 10);
test_ints[0] = 1;
mj_freeStack(data);
for (int i = 0; i < kTasks; ++i) {
mju_taskJoin(&tasks[i]);
}
for (int i = 0; i < kTasks; ++i) {
EXPECT_EQ(test_function_args[i].input, test_function_args[i].stack_output);
EXPECT_EQ(test_function_args[i].input, test_function_args[i].arena_output);
}
mj_deleteData(data);
mj_deleteModel(model);
mju_threadPoolDestroy(thread_pool);
}
#ifdef ADDRESS_SANITIZER
void MarkFreeStack(mjData* d, bool free) {
mj_markStack(d);
if (free) {
mj_freeStack(d);
}
}
TEST_F(EngineIoTest, CanDetectStackFrameLeakage) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
</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());
// MarkFreeStack correctly calls mj_freeStack, should not error.
MarkFreeStack(data, /* free= */ true);
// MarkFreeStack calls mj_markStack without mj_freeStack, the next call to
// mj_freeStack should detect the stack frame leakage.
mj_markStack(data);
MarkFreeStack(data, /* free= */ false);
EXPECT_THAT(
MjuErrorMessageFrom(mj_freeStack)(data),
ContainsRegex(
"mj_markStack in MarkFreeStack at .*engine_io_test\\.cc.* has no "
"corresponding mj_freeStack"));
// Dangling stack frames should be detected in mj_deleteData.
mj_resetData(model, data);
mj_markStack(data);
EXPECT_THAT(
MjuErrorMessageFrom(mj_deleteData)(data),
ContainsRegex(
"mj_markStack in .+EngineIoTest_CanDetectStackFrameLeakage.+ has no "
"corresponding mj_freeStack"));
mj_resetData(model, data);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, RedZoneAlignmentTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
</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());
mj_markStack(data);
mj_stackAllocByte(data, 1, 1);
mj_stackAllocByte(data, 1, 1);
mj_freeStack(data);
mj_deleteData(data);
mj_deleteModel(model);
}
#endif
} // namespace
} // namespace mujoco