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mujoco / data /test /engine /engine_print_test.cc

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	// 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 <array>

	#include <gmock/gmock.h>
	#include <gtest/gtest.h>
	#include <mujoco/mjdata.h>
	#include <mujoco/mjmodel.h>
	#include <mujoco/mujoco.h>
	#include "test/fixture.h"

	#ifdef MEMORY_SANITIZER
	#include <sanitizer/msan_interface.h>
	#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"(
	<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();
	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