Function TEST_F

test/plugin/decoder/decoder_test.cc:68–119

using DecoderPluginTest = MujocoTest;

TEST_F(DecoderPluginTest, CanDecode) {
  mjpDecoder decoder = FakeDecoder();
  mjp_registerDecoder(&decoder);

  static constexpr char xml[] = R"(
  <mujoco>
    <asset>
      <model name="fakeformat" file="dummy.fakeformat"/>
      <model name="also_fakeformat" file="dummy.alsoFakeFormat"/>
    </asset>
    <worldbody>
      <attach model="fakeformat" prefix="test"/>
    </worldbody>
  </mujoco>
  )";

  // Check referencing a resource via XML invokes the decoder.
  char error[1024];
  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
  mjModel* model = mj_compile(spec, nullptr);
  ASSERT_THAT(model, testing::NotNull()) << error;
  EXPECT_EQ(model->nbody, 2);  // world + included body
  EXPECT_EQ(model->ngeom, 1);
  mj_deleteModel(model);
  mj_deleteSpec(spec);

  // Check mj_parse with extension .fakeformat
  spec = mj_parse("dummy.fakeformat", nullptr, nullptr, error, sizeof(error));
  model = mj_compile(spec, nullptr);
  EXPECT_EQ(model->nbody, 2);  // world + included body
  EXPECT_EQ(model->ngeom, 1);
  mj_deleteModel(model);
  mj_deleteSpec(spec);

  // Check mj_parse with extension .alsoFakeFormat
  spec =
      mj_parse("dummy.alsoFakeFormat", nullptr, nullptr, error, sizeof(error));
  model = mj_compile(spec, nullptr);
  EXPECT_EQ(model->nbody, 2);  // world + included body
  EXPECT_EQ(model->ngeom, 1);
  mj_deleteModel(model);
  mj_deleteSpec(spec);

  // Check mj_parse with content_type
  spec = mj_parse("dummy.fakeformat", "model/fakeformat", nullptr, error,
                  sizeof(error));
  model = mj_compile(spec, nullptr);
  EXPECT_EQ(model->nbody, 2);  // world + included body
  EXPECT_EQ(model->ngeom, 1);
  mj_deleteModel(model);
  mj_deleteSpec(spec);
}

}  // namespace
}  // namespace mujoco