// 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 #include #include #include #include #include #include "test/fixture.h" #ifdef MEMORY_SANITIZER #include #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"( )"; std::array 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