use lazy_static::lazy_static;
use mujoco_sys::*;
use std::ffi::{CStr, CString};
const XML: &str = r#"
"#;
lazy_static! {
static ref MJ_HOME: CString = CString::new(
dirs::home_dir()
.expect("Could not locate home directory!")
.join(".mujoco")
.join("mujoco200")
.to_str()
.unwrap()
)
.unwrap();
static ref MJ_KEY: CString = CString::new(
dirs::home_dir()
.expect("Could not locate home directory!")
.join(".mujoco")
.join("mjkey.txt")
.to_str()
.unwrap()
)
.unwrap();
static ref XML_NAME: &'static CStr =
CStr::from_bytes_with_nul(b"simple.xml\0").unwrap();
}
fn activate() {
assert_eq!(unsafe { mj_activate(MJ_KEY.as_ptr()) }, 1);
}
fn load_model() -> *mut mjModel {
use std::mem::MaybeUninit;
let mut vfs: mjVFS = {
let mut vfs_uninit: MaybeUninit = MaybeUninit::uninit();
unsafe {
mj_defaultVFS(vfs_uninit.as_mut_ptr());
vfs_uninit.assume_init()
}
};
{
assert_eq!(
unsafe {
mj_makeEmptyFileVFS(
&mut vfs,
XML_NAME.as_ptr(),
XML.len() as std::os::raw::c_int,
)
},
0
);
let file_idx = unsafe { mj_findFileVFS(&vfs, XML_NAME.as_ptr()) };
assert_ne!(file_idx, -1);
let file_buf: *mut std::os::raw::c_void = vfs.filedata[file_idx as usize];
let file_buf = file_buf as *mut std::os::raw::c_uchar;
unsafe { std::ptr::copy_nonoverlapping(XML.as_ptr(), file_buf, XML.len()) };
}
let model;
unsafe {
let mut err: Box<[std::os::raw::c_uchar; 1000]> = Box::new([b'\0'; 1000]);
model = mj_loadXML(
XML_NAME.as_ptr(),
&vfs,
err.as_mut_ptr() as *mut std::os::raw::c_char,
1000,
);
assert_ne!(
model,
std::ptr::null_mut(),
"Error when loading XML: {}",
String::from_utf8(err.to_vec()).unwrap()
);
mj_deleteVFS(&mut vfs);
}
model
}
#[test]
fn test_activate() {
activate();
// deactivate();
}
#[test]
fn test_load_model() {
activate();
let model = load_model();
unsafe { mj_deleteModel(model) };
// deactivate();
}
#[test]
fn test_make_data() {
activate();
let model = load_model();
let data = unsafe { mj_makeData(model) };
assert_ne!(data, std::ptr::null_mut());
unsafe {
mj_deleteData(data);
mj_deleteModel(model);
}
// deactivate();
}
#[test]
fn test_simulate() {
activate();
let model = load_model();
let data = unsafe { mj_makeData(model) };
assert_ne!(data, std::ptr::null_mut());
for _ in 0..10 {
println!("Doing step");
unsafe { mj_step(model, data) };
}
unsafe {
mj_deleteData(data);
mj_deleteModel(model);
}
// deactivate();
}