// 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 xml/xml_api.cc. #include #include #include #include #include #include #include #include #include #include #include "src/xml/xml_api.h" #include "test/fixture.h" namespace mujoco { namespace { using ::testing::IsNull; using ::testing::NotNull; using ::testing::StartsWith; using ::testing::HasSubstr; static constexpr char xml[] = R"( )"; // ---------------------------- test mj_loadXML -------------------------------- using LoadXmlTest = MujocoTest; TEST_F(LoadXmlTest, EmptyModel) { static constexpr char xml[] = ""; mjModel* model = LoadModelFromString(xml, 0, 0); ASSERT_THAT(model, NotNull()); EXPECT_EQ(model->nq, 0); EXPECT_EQ(model->nv, 0); EXPECT_EQ(model->nu, 0); EXPECT_EQ(model->na, 0); EXPECT_EQ(model->nbody, 1); // worldbody exists even in empty model mjData* data = mj_makeData(model); EXPECT_THAT(data, NotNull()); mj_step(model, data); mj_deleteData(data); mj_deleteModel(model); } TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) { static constexpr char invalid_xml[] = " error; mjModel* model = LoadModelFromString(invalid_xml, error.data(), error.size()); EXPECT_THAT(model, IsNull()) << "Expected model loading to fail."; EXPECT_GT(std::strlen(error.data()), 0); if (model) { mj_deleteModel(model); } } TEST_F(LoadXmlTest, MultipleBodies) { std::array error; mjModel* model = LoadModelFromString(xml, error.data(), error.size()); ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data(); EXPECT_EQ(model->nbody, 3); mjData* data = mj_makeData(model); EXPECT_THAT(data, NotNull()); mj_step(model, data); mj_deleteData(data); mj_deleteModel(model); } using SaveLastXmlTest = MujocoTest; TEST_F(SaveLastXmlTest, EmptyModel) { static constexpr char xml[] = ""; mjModel* model = LoadModelFromString(xml, 0, 0); mjData* data = mj_makeData(model); std::array error; error.data()[0] = '\0'; testing::internal::CaptureStdout(); mj_saveLastXML(nullptr, model, error.data(), error.size()); EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith(" error; mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size()); EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data(); mjModel* model = mj_compile(spec, 0); EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data(); std::array out; EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(), error.size()), 273); EXPECT_STREQ(error.data(), "Output string too short, should be at least 274"); mj_deleteSpec(spec); mj_deleteModel(model); } TEST_F(MujocoTest, SaveXml) { std::array error; mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size()); EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data(); mjModel* model = mj_compile(spec, 0); EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data(); std::array out; EXPECT_THAT(mj_saveXMLString(NULL, out.data(), out.size(), error.data(), error.size()), -1); EXPECT_STREQ(error.data(), "Cannot write empty model"); EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(), error.size()), 0) << error.data(); mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size()); EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data(); mjModel* saved_model = mj_compile(saved_spec, 0); EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data(); mj_deleteSpec(spec); mj_deleteSpec(saved_spec); mj_deleteModel(model); mj_deleteModel(saved_model); } TEST_F(MujocoTest, SaveXmlWithDefaultMesh) { static constexpr char xml[] = R"( )"; std::array error; mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size()); EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data(); mjModel* model = mj_compile(spec, 0); EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data(); std::array out; EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(), error.size()), 0) << error.data(); mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size()); EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data(); mjModel* saved_model = mj_compile(saved_spec, 0); EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data(); // check that the mesh has inertia="shell" EXPECT_THAT(out.data(), HasSubstr(R"()")); mj_deleteSpec(spec); mj_deleteSpec(saved_spec); mj_deleteModel(model); mj_deleteModel(saved_model); } TEST_F(MujocoTest, FreeLastXml) { static constexpr char xml[] = ""; mjModel* model = LoadModelFromString(xml, 0, 0); ASSERT_THAT(model, NotNull()); mj_deleteModel(model); ASSERT_NE(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0); mj_freeLastXML(); ASSERT_EQ(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0); } } // namespace } // namespace mujoco