Saran Tunyasuvunakool
2e23594fe8
Also missing struct fields to the Python bindings that were discovered as a result of the new `introspect` metadata. PiperOrigin-RevId: 523947396 Change-Id: I367fd2dc8d5fd7e5712a45b70a5c50da51d152e4
131 lines
5.4 KiB
Python
131 lines
5.4 KiB
Python
# Copyright 2023 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Tests for structs.py."""
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import re
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from absl.testing import absltest
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from . import ast_nodes
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from . import structs
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from . import type_parsing
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class StructsTest(absltest.TestCase):
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def test_mjData(self): # pylint: disable=invalid-name
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struct_decl = structs.STRUCTS['mjData']
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self.assertEqual(struct_decl.name, 'mjData')
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self.assertEqual(struct_decl.declname, 'struct mjData_')
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field_names = set()
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for field in struct_decl.fields:
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self.assertNotIn(field.name, field_names)
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field_names.add(field.name)
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if field.name == 'warning':
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self.assertEqual(field.type,
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type_parsing.parse_type('mjWarningStat[8]'))
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self.assertEqual(field.doc, 'warning statistics')
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elif field.name == 'qpos':
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self.assertEqual(field.type, type_parsing.parse_type('mjtNum*'))
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self.assertEqual(re.sub(r'\s+', ' ', field.doc), 'position (nq x 1)')
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self.assertIn('warning', field_names)
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self.assertIn('qpos', field_names)
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def test_mjVisual(self): # pylint: disable=invalid-name
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struct_decl = structs.STRUCTS['mjVisual']
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self.assertEqual(struct_decl.name, 'mjVisual')
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self.assertEqual(struct_decl.declname, 'struct mjVisual_')
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outer_fields = set()
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for outer_field in struct_decl.fields:
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self.assertNotIn(outer_field.name, outer_fields)
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outer_fields.add(outer_field.name)
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self.assertIsInstance(outer_field.type, ast_nodes.AnonymousStructDecl)
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inner_fields = set()
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if outer_field.name == 'global':
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for inner_field in outer_field.type.fields:
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self.assertNotIn(inner_field.name, inner_fields)
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inner_fields.add(inner_field.name)
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if inner_field.name == 'ipd':
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self.assertEqual(inner_field.type, type_parsing.parse_type('float'))
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self.assertEqual(
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inner_field.doc, 'inter-pupilary distance for free camera'
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)
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elif inner_field.name == 'offwidth':
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self.assertEqual(inner_field.type, type_parsing.parse_type('int'))
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self.assertEqual(inner_field.doc, 'width of offscreen buffer')
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self.assertIn('ipd', inner_fields)
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self.assertIn('offwidth', inner_fields)
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elif outer_field.name == 'headlight':
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for inner_field in outer_field.type.fields:
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self.assertNotIn(inner_field.name, inner_fields)
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inner_fields.add(inner_field.name)
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if inner_field.name in {'ambient', 'diffuse', 'specular'}:
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self.assertEqual(inner_field.type,
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type_parsing.parse_type('float[3]'))
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self.assertEqual(inner_field.doc,
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f'{inner_field.name} rgb (alpha=1)')
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elif inner_field.name == 'active':
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self.assertEqual(inner_field.type, type_parsing.parse_type('int'))
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self.assertEqual(inner_field.doc, 'is headlight active')
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self.assertIn('ambient', inner_fields)
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self.assertIn('diffuse', inner_fields)
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self.assertIn('specular', inner_fields)
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self.assertIn('active', inner_fields)
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self.assertIn('global', outer_fields)
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self.assertIn('headlight', outer_fields)
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def test_mjuiItem(self): # pylint: disable=invalid-name
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struct_decl = structs.STRUCTS['mjuiItem']
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self.assertEqual(struct_decl.name, 'mjuiItem')
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self.assertEqual(struct_decl.declname, 'struct mjuiItem_')
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found_anonymous_union = False
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outer_fields = set()
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for outer_field in struct_decl.fields:
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if isinstance(outer_field, ast_nodes.AnonymousUnionDecl):
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self.assertFalse(found_anonymous_union)
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found_anonymous_union = True
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inner_fields = set()
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for inner_field in outer_field.fields:
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self.assertNotIn(inner_field.name, inner_fields)
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inner_fields.add(inner_field.name)
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if inner_field.name == 'single':
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self.assertEqual(inner_field.type,
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type_parsing.parse_type('struct mjuiItemSingle_'))
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self.assertEqual(inner_field.doc, 'check and button')
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elif inner_field.name == 'multi':
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self.assertEqual(inner_field.type,
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type_parsing.parse_type('struct mjuiItemMulti_'))
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self.assertEqual(inner_field.doc, 'static, radio and select')
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self.assertIn('single', inner_fields)
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self.assertIn('multi', inner_fields)
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else:
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self.assertNotIn(outer_field.name, outer_fields)
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outer_fields.add(outer_field.name)
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if outer_field.name == 'pdata':
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self.assertEqual(outer_field.type, type_parsing.parse_type('void*'))
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self.assertEqual(outer_field.doc, 'data pointer (type-specific)')
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self.assertTrue(found_anonymous_union)
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self.assertIn('pdata', outer_fields)
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if __name__ == '__main__':
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absltest.main()
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