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mujoco / data /test /xml /xml_schema_test.cc
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introvoyz041
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// 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