Move introspect to python/introspect

PiperOrigin-RevId: 728695024
Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55

python/mujoco/introspect/structs_test.py

@@ -0,0 +1,131 @@
+# Copyright 2023 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 structs.py."""
+
+import re
+
+from absl.testing import absltest
+
+from . import ast_nodes
+from . import structs
+from . import type_parsing
+
+
+class StructsTest(absltest.TestCase):
+
+  def test_mjData(self):  # pylint: disable=invalid-name
+    struct_decl = structs.STRUCTS['mjData']
+    self.assertEqual(struct_decl.name, 'mjData')
+    self.assertEqual(struct_decl.declname, 'struct mjData_')
+
+    field_names = set()
+    for field in struct_decl.fields:
+      self.assertNotIn(field.name, field_names)
+      field_names.add(field.name)
+      if field.name == 'warning':
+        self.assertEqual(field.type,
+                         type_parsing.parse_type('mjWarningStat[8]'))
+        self.assertEqual(field.doc, 'warning statistics')
+      elif field.name == 'qpos':
+        self.assertEqual(field.type, type_parsing.parse_type('mjtNum*'))
+        self.assertEqual(field.doc, 'position')
+        self.assertEqual(field.array_extent, ('nq',))
+
+    self.assertIn('warning', field_names)
+    self.assertIn('qpos', field_names)
+
+  def test_mjVisual(self):  # pylint: disable=invalid-name
+    struct_decl = structs.STRUCTS['mjVisual']
+    self.assertEqual(struct_decl.name, 'mjVisual')
+    self.assertEqual(struct_decl.declname, 'struct mjVisual_')
+
+    outer_fields = set()
+    for outer_field in struct_decl.fields:
+      self.assertNotIn(outer_field.name, outer_fields)
+      outer_fields.add(outer_field.name)
+      self.assertIsInstance(outer_field.type, ast_nodes.AnonymousStructDecl)
+      inner_fields = set()
+      if outer_field.name == 'global':
+        for inner_field in outer_field.type.fields:
+          self.assertNotIn(inner_field.name, inner_fields)
+          inner_fields.add(inner_field.name)
+          if inner_field.name == 'ipd':
+            self.assertEqual(inner_field.type, type_parsing.parse_type('float'))
+            self.assertEqual(
+                inner_field.doc, 'inter-pupilary distance for free camera'
+            )
+          elif inner_field.name == 'offwidth':
+            self.assertEqual(inner_field.type, type_parsing.parse_type('int'))
+            self.assertEqual(inner_field.doc, 'width of offscreen buffer')
+        self.assertIn('ipd', inner_fields)
+        self.assertIn('offwidth', inner_fields)
+      elif outer_field.name == 'headlight':
+        for inner_field in outer_field.type.fields:
+          self.assertNotIn(inner_field.name, inner_fields)
+          inner_fields.add(inner_field.name)
+          if inner_field.name in {'ambient', 'diffuse', 'specular'}:
+            self.assertEqual(inner_field.type,
+                             type_parsing.parse_type('float[3]'))
+            self.assertEqual(inner_field.doc,
+                             f'{inner_field.name} rgb (alpha=1)')
+          elif inner_field.name == 'active':
+            self.assertEqual(inner_field.type, type_parsing.parse_type('int'))
+            self.assertEqual(inner_field.doc, 'is headlight active')
+        self.assertIn('ambient', inner_fields)
+        self.assertIn('diffuse', inner_fields)
+        self.assertIn('specular', inner_fields)
+        self.assertIn('active', inner_fields)
+
+    self.assertIn('global', outer_fields)
+    self.assertIn('headlight', outer_fields)
+
+  def test_mjuiItem(self):  # pylint: disable=invalid-name
+    struct_decl = structs.STRUCTS['mjuiItem']
+    self.assertEqual(struct_decl.name, 'mjuiItem')
+    self.assertEqual(struct_decl.declname, 'struct mjuiItem_')
+
+    found_anonymous_union = False
+    outer_fields = set()
+    for outer_field in struct_decl.fields:
+      if isinstance(outer_field, ast_nodes.AnonymousUnionDecl):
+        self.assertFalse(found_anonymous_union)
+        found_anonymous_union = True
+        inner_fields = set()
+        for inner_field in outer_field.fields:
+          self.assertNotIn(inner_field.name, inner_fields)
+          inner_fields.add(inner_field.name)
+          if inner_field.name == 'single':
+            self.assertEqual(inner_field.type,
+                             type_parsing.parse_type('struct mjuiItemSingle_'))
+            self.assertEqual(inner_field.doc, 'check and button')
+          elif inner_field.name == 'multi':
+            self.assertEqual(inner_field.type,
+                             type_parsing.parse_type('struct mjuiItemMulti_'))
+            self.assertEqual(inner_field.doc, 'static, radio and select')
+        self.assertIn('single', inner_fields)
+        self.assertIn('multi', inner_fields)
+      else:
+        self.assertNotIn(outer_field.name, outer_fields)
+        outer_fields.add(outer_field.name)
+        if outer_field.name == 'pdata':
+          self.assertEqual(outer_field.type, type_parsing.parse_type('void*'))
+          self.assertEqual(outer_field.doc, 'data pointer (type-specific)')
+
+    self.assertTrue(found_anonymous_union)
+    self.assertIn('pdata', outer_fields)
+
+
+if __name__ == '__main__':
+  absltest.main()