Move Mujoco USD test fixture out of MJCF plugin directory and rename to test_utils.

PiperOrigin-RevId: 753183581 Change-Id: Iedd6594ac679ca026f8af29c647d18ae93003a53
2025-04-30 08:43:18 -07:00
parent 177fce9fa1
commit bb07fa0c78
3 changed files with 8 additions and 2 deletions
@@ -0,0 +1,100 @@
+// Copyright 2025 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.
+
+#ifndef MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
+#define MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
+
+#include <string>
+
+#include <gtest/gtest.h>
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/fileFormat.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/modelAPI.h>
+#include <pxr/usd/usd/stage.h>
+
+#define EXPECT_PRIM_VALID(stage, path) \
+  EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
+
+#define EXPECT_PRIM_IS_A(stage, path, type)                         \
+  {                                                                 \
+    EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
+  }
+
+#define EXPECT_PRIM_API_APPLIED(stage, path, api)                     \
+  {                                                                   \
+    EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
+  }
+
+#define EXPECT_PRIM_API_NOT_APPLIED(stage, path, api)                  \
+  {                                                                    \
+    EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
+  }
+
+#define EXPECT_PRIM_KIND(stage, path, kind)                          \
+  {                                                                  \
+    pxr::TfToken prim_kind;                                          \
+    pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
+    EXPECT_EQ(kind, prim_kind);                                      \
+  }
+
+#define EXPECT_PRIM_PURPOSE(stage, path, purpose)    \
+  {                                                  \
+    pxr::TfToken prim_purpose;                       \
+    pxr::UsdGeomImageable::Get(stage, SdfPath(path)) \
+        .GetPurposeAttr()                            \
+        .Get(&prim_purpose);                         \
+    EXPECT_EQ(prim_purpose, purpose);                \
+  }
+
+#define EXPECT_ATTRIBUTE_HAS_VALUE(stage, path) \
+  EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
+
+#define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
+  EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
+
+namespace mujoco {
+namespace usd {
+
+pxr::SdfLayerRefPtr LoadLayer(
+    const std::string& xml,
+    const pxr::SdfFileFormat::FileFormatArguments& args = {});
+
+template <typename T>
+void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
+                          const T& value) {
+  auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
+  EXPECT_TRUE(attr.IsValid()) << "Attribute " << path << " is not valid";
+  T attr_value;
+  attr.Get(&attr_value);
+  EXPECT_EQ(attr_value, value) << "Attribute " << path << " has value "
+                               << attr_value << ". Expected: " << value;
+}
+
+// Specialization for SdfAssetPath, so that we can compare only the asset path
+// and not care about whatever the resolved path is.
+// Otherwise the default operator== would fail because it tests for equality of
+// the asset path AND the resolved path.
+template <>
+void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
+                                             const char* path,
+                                             const pxr::SdfAssetPath& value);
+
+void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
+                                  const char* connection_path);
+}  // namespace usd
+}  // namespace mujoco
+#endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_