Haroon Qureshi
4b8a8fae92
PiperOrigin-RevId: 937332995 Change-Id: I2f03581cc47d96337bb637f30c678060207333fd
679 lines
20 KiB
Python
679 lines
20 KiB
Python
# Copyright 2025 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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"""Tests for helper modules."""
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from absl.testing import absltest
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from mujoco.codegen import code_builder
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from introspect import ast_nodes
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from wasm.codegen.generators import common
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from wasm.codegen.generators import enums
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from wasm.codegen.generators import functions
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from wasm.codegen.generators import structs
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class CodeBuilderTest(absltest.TestCase):
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def test_code_builder_functionality(self):
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"""Test nested indentation blocks."""
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builder = code_builder.CodeBuilder(indent_str=" ")
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builder.line("let a = 1")
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with builder.block("function myFunc()"):
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builder.line("let flag = true")
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with builder.block("while (flag)"):
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builder.line("a++")
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builder.line("flag = a < 10")
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builder.line("return a")
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builder.line("print('Done')")
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expected_lines = [
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"let a = 1",
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"function myFunc() {",
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" let flag = true",
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" while (flag) {",
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" a++",
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" flag = a < 10",
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" }",
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" return a",
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"}",
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"print('Done')",
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]
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self.assertEqual(builder.to_string(), "\n".join(expected_lines))
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class CommonUtilsTest(absltest.TestCase):
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def test_capitalize(self):
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self.assertEqual(common.capitalize(""), "")
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self.assertEqual(common.capitalize("hello"), "Hello")
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self.assertEqual(common.capitalize("1st place"), "1st place")
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self.assertEqual(common.capitalize("!wow"), "!wow")
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self.assertEqual(common.capitalize(" leading space"), " leading space")
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class FunctionUtilsTest(absltest.TestCase):
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def setUp(self):
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super().setUp()
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self.struct_type = ast_nodes.ValueType("MyStruct")
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self.ptr_to_int = ast_nodes.PointerType(ast_nodes.ValueType("int"))
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self.func_ret_ptr_int = ast_nodes.FunctionDecl(
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"func_pi", ast_nodes.PointerType(ast_nodes.ValueType("int")), [], "doc"
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)
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self.func_ret_ptr_struct = ast_nodes.FunctionDecl(
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"func_ps",
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ast_nodes.PointerType(ast_nodes.ValueType("MyStruct")),
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[],
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"doc",
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)
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def test_param_is_primitive_value(self):
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param_prim_val = ast_nodes.FunctionParameterDecl(
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"prim_v", ast_nodes.ValueType("int")
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)
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param_arr = ast_nodes.FunctionParameterDecl(
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"arr_v", ast_nodes.ArrayType(ast_nodes.ValueType("int"), extents=(10,))
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)
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self.assertTrue(functions.param_is_primitive_value(param_prim_val))
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self.assertFalse(functions.param_is_primitive_value(param_arr))
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def test_should_be_wrapped_with_primitive_ptr_return(self):
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func = ast_nodes.FunctionDecl(
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name="get_data",
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return_type=ast_nodes.PointerType(ast_nodes.ValueType("int")),
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parameters=tuple(),
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doc="Returns int pointer",
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)
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self.assertTrue(common.should_be_wrapped(func))
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def test_generate_function_wrapper_for_simple_func(self):
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func = ast_nodes.FunctionDecl(
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name="mj_defaultLROpt",
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return_type=ast_nodes.ValueType("void"),
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parameters=(
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ast_nodes.FunctionParameterDecl(
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name="opt",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType("mjLROpt"),
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),
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),
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),
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doc="Set default options for length range computation.",
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)
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result = functions.generate_function_wrapper(func)
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self.assertEqual(
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result,
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"""void mj_defaultLROpt_wrapper(MjLROpt& opt) {
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mj_defaultLROpt(opt.get());
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}""",
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)
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def test_generate_function_wrapper_checking_param(self):
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func = ast_nodes.FunctionDecl(
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name="mj_extractState",
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return_type=ast_nodes.ValueType(name="void"),
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parameters=(
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ast_nodes.FunctionParameterDecl(
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name="m",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(
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name="mjModel", is_const=True
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),
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),
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),
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ast_nodes.FunctionParameterDecl(
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name="src",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(
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name="mjtNum", is_const=True
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),
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),
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),
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ast_nodes.FunctionParameterDecl(
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name="srcsig",
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type=ast_nodes.ValueType(name="unsigned int"),
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),
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ast_nodes.FunctionParameterDecl(
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name="dst",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="mjtNum"),
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),
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),
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ast_nodes.FunctionParameterDecl(
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name="dstsig",
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type=ast_nodes.ValueType(name="unsigned int"),
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),
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),
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doc="Extract a subset of components from a state previously obtained via mj_getState.", # pylint: disable=line-too-long
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)
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result = functions.generate_function_wrapper(func)
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self.assertEqual(
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result,
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"""void mj_extractState_wrapper(const MjModel& m, const NumberArray& src, unsigned int srcsig, const val& dst, unsigned int dstsig) {
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UNPACK_ARRAY(mjtNum, src);
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UNPACK_VALUE(mjtNum, dst);
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mj_extractState(m.get(), src_.data(), srcsig, dst_.data(), dstsig);
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}""",
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)
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def test_get_params_string_with_struct_ptr(self):
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param = ast_nodes.FunctionParameterDecl(
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name="my_struct",
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type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
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)
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result = functions.get_param_string(param)
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self.assertEqual(result, "Mystruct& my_struct")
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def test_get_params_string_maybe_with_conversion_struct_ptr(self):
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param = ast_nodes.FunctionParameterDecl(
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name="s",
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type=ast_nodes.PointerType(ast_nodes.ValueType("customstruct")),
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)
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result = functions.get_params_string_maybe_with_conversion((param,))
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self.assertEqual(result, "s.get()")
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def test_get_compatible_return_code(self):
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func = ast_nodes.FunctionDecl(
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name="noop",
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return_type=ast_nodes.ValueType("void"),
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parameters=tuple(),
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doc="does nothing",
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)
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result = functions.get_compatible_return_code(func)
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self.assertEqual(result, "noop();")
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def test_get_compatible_return_type(self):
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func = ast_nodes.FunctionDecl(
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name="get_name",
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return_type=ast_nodes.PointerType(ast_nodes.ValueType("char")),
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parameters=tuple(),
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doc="returns name",
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)
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result = functions.get_compatible_return_type(func)
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self.assertEqual(result.strip(), "std::string")
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def test_get_optional_return_code(self):
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func = ast_nodes.FunctionDecl(
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name="get_struct",
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return_type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
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parameters=tuple(),
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doc="returns struct",
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)
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result = functions.get_optional_return_code(func, "get_struct()")
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self.assertIn("mystruct* result = get_struct();", result)
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self.assertIn("return Mystruct(result)", result)
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def test_is_excluded_function_name(self):
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self.assertTrue(functions.is_excluded_function_name("mjr_function"))
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self.assertTrue(functions.is_excluded_function_name("mjui_function"))
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self.assertTrue(functions.is_excluded_function_name("mju_malloc"))
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self.assertTrue(functions.is_excluded_function_name("mj_makeData"))
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self.assertFalse(functions.is_excluded_function_name("mjv_updateScene"))
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self.assertFalse(functions.is_excluded_function_name("mj_normalFunction"))
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self.assertFalse(
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functions.is_excluded_function_name("mju_someOtherFunction")
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)
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class StructConstructorCodeBuilderTest(absltest.TestCase):
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def test_constructor_code_with_fields_with_init(self):
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field_with_init = ast_nodes.StructFieldDecl(
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name="element",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="mjsElement"),
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),
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doc="",
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)
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wrapped_field_data = structs._generate_field_data(
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field_with_init, "MjsTexture"
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)
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self.assertEqual(
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structs.build_struct_source(
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"mjsTexture",
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[wrapped_field_data],
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),
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"""
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MjsTexture::MjsTexture(mjsTexture *ptr) : ptr_(ptr), element(ptr_->element) {}
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mjsTexture* MjsTexture::get() const {
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return ptr_;
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}
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void MjsTexture::set(mjsTexture* ptr) {
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ptr_ = ptr;
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}
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""".strip(),
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)
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def test_constructor_code_with_shallow_copy(self):
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self.assertEqual(
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structs.build_struct_source("mjvLight", []),
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"""MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
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MjvLight::~MjvLight() {
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if (owned_ && ptr_) {
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delete ptr_;
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}
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}
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MjvLight::MjvLight() : ptr_(new mjvLight()) {
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owned_ = true;
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}
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MjvLight::MjvLight(const MjvLight &other) : MjvLight() {
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*ptr_ = *other.get();
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}
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MjvLight& MjvLight::operator=(const MjvLight &other) {
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if (this == &other) {
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return *this;
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}
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*ptr_ = *other.get();
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return *this;
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}
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std::unique_ptr<MjvLight> MjvLight::copy() {
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return std::make_unique<MjvLight>(*this);
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}
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mjvLight* MjvLight::get() const {
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return ptr_;
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}
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void MjvLight::set(mjvLight* ptr) {
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ptr_ = ptr;
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}
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""".strip(),
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)
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def test_build_struct_header_with_nested_wrappers(self):
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self.assertEqual(
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structs.build_struct_header("mjData", []),
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"",
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)
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def test_build_struct_header_basic_struct(self):
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self.assertEqual(
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structs.build_struct_header("mjLROpt", []),
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"""
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struct MjLROpt {
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MjLROpt();
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MjLROpt(const MjLROpt &);
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MjLROpt &operator=(const MjLROpt &);
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explicit MjLROpt(mjLROpt *ptr);
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~MjLROpt();
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mjLROpt* get() const { return ptr_; }
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void set(mjLROpt* ptr) { ptr_ = ptr; }
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private:
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mjLROpt* ptr_;
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bool owned_ = false;
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};
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""".strip(),
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)
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class StructFieldCodeBuilderTest(absltest.TestCase):
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def test_primitive_type_definition(self):
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field = ast_nodes.StructFieldDecl(
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name="ngeom",
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type=ast_nodes.ValueType(name="int"),
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doc="number of geoms",
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)
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self.assertEqual(
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structs._generate_field_data(field, "ngeom").declaration,
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"""
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int ngeom() const {
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return ptr_->ngeom;
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}
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void set_ngeom(int value) {
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ptr_->ngeom = value;
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}
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""".strip(),
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)
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def test_memory_view_definition(self):
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field = ast_nodes.StructFieldDecl(
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name="geom_rgba",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="float"),
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),
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doc="rgba when material is omitted",
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array_extent=("ngeom", 4),
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)
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self.assertEqual(
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structs._generate_field_data(field, "geom_rgba").declaration,
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"""
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emscripten::val geom_rgba() const {
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return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
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}
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""".strip(),
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)
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def test_string_field_definition(self):
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field = ast_nodes.StructFieldDecl(
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name="string_field",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="mjString"),
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),
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doc="rgba when material is omitted",
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)
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self.assertEqual(
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structs._generate_field_data(field, "MjString").declaration,
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"""
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mjString string_field() const {
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return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
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}
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void set_string_field(const mjString& value) {
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if (ptr_ && ptr_->string_field) {
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*(ptr_->string_field) = value;
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}
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}
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""".strip(),
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)
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def test_mjvec_pointer_definition(self):
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field = ast_nodes.StructFieldDecl(
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name="vector_field",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="mjDoubleVec"),
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),
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doc="",
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)
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self.assertEqual(
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structs._generate_field_data(field, "mjDoubleVec").declaration,
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"""
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mjDoubleVec &vector_field() const {
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return *(ptr_->vector_field);
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}""".strip(),
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)
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def test_mjbyte_vec_pointer_definition(self):
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field = ast_nodes.StructFieldDecl(
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name="vector_field",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="mjByteVec"),
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),
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doc="",
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)
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self.assertEqual(
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structs._generate_field_data(field, "mjByteVec").declaration,
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"""
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std::vector<uint8_t> &vector_field() const {
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return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
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}""".strip(),
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)
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def test_get_property_binding(self):
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field = ast_nodes.StructFieldDecl(
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name="ngeom",
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type=ast_nodes.ValueType(name="int"),
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doc="number of geoms",
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)
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self.assertEqual(
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structs._get_property_binding(field, "MjModel"),
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'.property("ngeom", &MjModel::ngeom)',
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)
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def test_get_property_binding_with_setter(self):
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field = ast_nodes.StructFieldDecl(
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name="ngeom",
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type=ast_nodes.ValueType(name="int"),
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doc="",
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)
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self.assertEqual(
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structs._get_property_binding(field, "MjModel", True),
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'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
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)
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def test_get_property_binding_with_return_value_policy_as_ref(self):
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field = ast_nodes.StructFieldDecl(
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name="ngeom",
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type=ast_nodes.ValueType(name="int"),
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doc="",
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)
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self.assertEqual(
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structs._get_property_binding(
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field,
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"MjModel",
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setter=True,
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reference=True,
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),
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'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
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)
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|
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class StructFieldHandlerTest(absltest.TestCase):
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def test_scalar_field(self):
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"""Test that a scalar type field is handled correctly."""
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field_scalar = ast_nodes.StructFieldDecl(
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name="ngeom",
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type=ast_nodes.ValueType(name="int"),
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doc="number of geoms",
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)
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wrapped_field_data = structs._generate_field_data(field_scalar, "MjModel")
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self.assertEqual(
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wrapped_field_data.declaration,
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"""
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int ngeom() const {
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return ptr_->ngeom;
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}
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void set_ngeom(int value) {
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ptr_->ngeom = value;
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}
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""".strip(),
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)
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self.assertEqual(
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wrapped_field_data.binding,
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'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
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)
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def test_pointer_type_field(self):
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"""Test that a pointer type field is handled correctly."""
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field = ast_nodes.StructFieldDecl(
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name="geom_rgba",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="float"),
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),
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doc="rgba when material is omitted",
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array_extent=("ngeom", 4),
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)
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wrapped_field_data = structs._generate_field_data(field, "MjModel")
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self.assertEqual(
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wrapped_field_data.declaration,
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("""
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emscripten::val geom_rgba() const {
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return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
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}
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""".strip()),
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)
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self.assertEqual(
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wrapped_field_data.binding,
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'.property("geom_rgba", &MjModel::geom_rgba)',
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)
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def test_pointer_type_field_for_byte_type(self):
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"""Test that a pointer type field for a byte type is handled correctly."""
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field = ast_nodes.StructFieldDecl(
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name="buffer",
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type=ast_nodes.PointerType(
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inner_type=ast_nodes.ValueType(name="void"),
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),
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|
doc="main buffer; all pointers point in it (nbuffer bytes)",
|
|
)
|
|
wrapped_field_data = structs._generate_field_data(field, "MjData")
|
|
|
|
self.assertEqual(
|
|
wrapped_field_data.declaration,
|
|
("""
|
|
emscripten::val buffer() const {
|
|
return emscripten::val(emscripten::typed_memory_view(model->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
|
|
}
|
|
""".strip()),
|
|
)
|
|
assert wrapped_field_data.binding == '.property("buffer", &MjData::buffer)'
|
|
|
|
def test_pointer_type_field_for_mj_struct(self):
|
|
"""Test that a pointer type field for a mj struct is handled correctly."""
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="element",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="mjsElement"),
|
|
),
|
|
doc="",
|
|
)
|
|
wrapped_field_data = structs._generate_field_data(field, "MjsTexture")
|
|
self.assertEqual(wrapped_field_data.declaration, "MjsElement element;")
|
|
|
|
self.assertEqual(
|
|
wrapped_field_data.binding,
|
|
'.property("element", &MjsTexture::element, reference())',
|
|
)
|
|
self.assertEqual(
|
|
wrapped_field_data.ptr_initialization,
|
|
"element(ptr_->element)",
|
|
)
|
|
|
|
def test_array_type_field(self):
|
|
"""Test that an array type field is handled correctly."""
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="gravity",
|
|
type=ast_nodes.ArrayType(
|
|
inner_type=ast_nodes.ValueType(name="mjtNum"),
|
|
extents=(3,),
|
|
),
|
|
doc="gravitational acceleration",
|
|
)
|
|
wrapped_field_data = structs._generate_field_data(field, "MjOption")
|
|
|
|
self.assertEqual(
|
|
wrapped_field_data.declaration,
|
|
("""
|
|
emscripten::val gravity() const {
|
|
return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
|
|
}
|
|
""".strip()),
|
|
)
|
|
self.assertEqual(
|
|
wrapped_field_data.binding,
|
|
'.property("gravity", &MjOption::gravity)',
|
|
)
|
|
|
|
def test_array_field_with_multi_dimensional_array(self):
|
|
"""Test that multi-dimensional arrays are handled correctly."""
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="multi_dim_array",
|
|
type=ast_nodes.ArrayType(
|
|
inner_type=ast_nodes.ValueType(name="float"),
|
|
extents=(3, 4),
|
|
),
|
|
doc="description",
|
|
)
|
|
wrapped_field_data = structs._generate_field_data(field, "MjModel")
|
|
self.assertEqual(
|
|
wrapped_field_data.declaration,
|
|
"""
|
|
emscripten::val multi_dim_array() const {
|
|
return emscripten::val(emscripten::typed_memory_view(12, reinterpret_cast<float*>(ptr_->multi_dim_array)));
|
|
}
|
|
""".strip(),
|
|
)
|
|
self.assertEqual(
|
|
wrapped_field_data.binding,
|
|
'.property("multi_dim_array", &MjModel::multi_dim_array)',
|
|
)
|
|
|
|
def test_parse_array_extent(self):
|
|
"""Test that parse_array_extent handles various cases correctly."""
|
|
self.assertEqual(
|
|
structs.parse_array_extent((1, 2), "MjModel", "geom_rgba"),
|
|
"1 * 2",
|
|
)
|
|
self.assertEqual(
|
|
structs.parse_array_extent((1, "ngeom"), "MjModel", "geom_rgba"),
|
|
"1 * ptr_->ngeom",
|
|
)
|
|
self.assertEqual(
|
|
structs.parse_array_extent((1, "mjConstant"), "MjModel", "geom_rgba"),
|
|
"1 * mjConstant",
|
|
)
|
|
|
|
def test_resolve_extent(self):
|
|
"""Test that resolve_extent handles various cases correctly."""
|
|
# for integer just return the number
|
|
self.assertEqual(structs.resolve_extent(1, "MjModel", "geom_rgba"), "1")
|
|
|
|
# for string that does not start with mj, it's a member of the struct
|
|
self.assertEqual(
|
|
structs.resolve_extent("ngeom", "MjModel", "geom_rgba"),
|
|
"ptr_->ngeom",
|
|
)
|
|
|
|
# when it's MjData and the field is in MJDATA_SIZES, it should use ptr_->
|
|
self.assertEqual(
|
|
structs.resolve_extent("size_value", "MjData", "efc_AR"),
|
|
"ptr_->size_value",
|
|
)
|
|
# when it's MjData and the field is not in MJDATA_SIZES,
|
|
# it should use model->
|
|
self.assertEqual(
|
|
structs.resolve_extent("size_value", "MjData", "data_field"),
|
|
"model->size_value",
|
|
)
|
|
self.assertEqual(
|
|
structs.resolve_extent("mjConstant", "MjModel", "model_field"),
|
|
"mjConstant",
|
|
)
|
|
|
|
|
|
class EnumsGeneratorTest(absltest.TestCase):
|
|
|
|
def test_generate_enum_bindings(self):
|
|
|
|
expected_code = """
|
|
enum_<AnotherEnum>("AnotherEnum")
|
|
.value("ALPHA", ALPHA)
|
|
.value("BETA", BETA);
|
|
enum_<TestEnum>("TestEnum")
|
|
.value("FIRST_VAL", FIRST_VAL)
|
|
.value("SECOND_VAL", SECOND_VAL)
|
|
.value("THIRD_VAL", THIRD_VAL);
|
|
""".strip()
|
|
|
|
markers_and_content = enums.generate([
|
|
ast_nodes.EnumDecl(
|
|
name="TestEnum",
|
|
declname="enum TestEnum_",
|
|
values={"FIRST_VAL": 0, "SECOND_VAL": 1, "THIRD_VAL": 2},
|
|
),
|
|
ast_nodes.EnumDecl(
|
|
name="AnotherEnum",
|
|
declname="enum AnotherEnum_",
|
|
values={"ALPHA": 100, "BETA": 200},
|
|
),
|
|
ast_nodes.EnumDecl(
|
|
name="EmptyEnum",
|
|
declname="enum EmptyEnum_",
|
|
values={},
|
|
),
|
|
])
|
|
actual_code = "\n\n".join(markers_and_content[0][1])
|
|
|
|
self.assertEqual(actual_code, expected_code)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
absltest.main()
|