Kyle Bayes
7174d33f08
PiperOrigin-RevId: 918533795 Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
679 lines
20 KiB
Python
679 lines
20 KiB
Python
# 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.
|
|
|
|
"""Tests for helper modules."""
|
|
|
|
from absl.testing import absltest
|
|
from introspect import ast_nodes
|
|
|
|
from wasm.codegen.generators import code_builder
|
|
from wasm.codegen.generators import common
|
|
from wasm.codegen.generators import enums
|
|
from wasm.codegen.generators import functions
|
|
from wasm.codegen.generators import structs
|
|
|
|
|
|
class CodeBuilderTest(absltest.TestCase):
|
|
|
|
def test_code_builder_functionality(self):
|
|
"""Test nested indentation blocks."""
|
|
builder = code_builder.CodeBuilder(indent_str=" ")
|
|
builder.line("let a = 1")
|
|
with builder.block("function myFunc()"):
|
|
builder.line("let flag = true")
|
|
with builder.block("while (flag)"):
|
|
builder.line("a++")
|
|
builder.line("flag = a < 10")
|
|
builder.line("return a")
|
|
builder.line("print('Done')")
|
|
|
|
expected_lines = [
|
|
"let a = 1",
|
|
"function myFunc() {",
|
|
" let flag = true",
|
|
" while (flag) {",
|
|
" a++",
|
|
" flag = a < 10",
|
|
" }",
|
|
" return a",
|
|
"}",
|
|
"print('Done')",
|
|
]
|
|
self.assertEqual(builder.to_string(), "\n".join(expected_lines))
|
|
|
|
|
|
class CommonUtilsTest(absltest.TestCase):
|
|
|
|
def test_capitalize(self):
|
|
self.assertEqual(common.capitalize(""), "")
|
|
self.assertEqual(common.capitalize("hello"), "Hello")
|
|
self.assertEqual(common.capitalize("1st place"), "1st place")
|
|
self.assertEqual(common.capitalize("!wow"), "!wow")
|
|
self.assertEqual(common.capitalize(" leading space"), " leading space")
|
|
|
|
|
|
class FunctionUtilsTest(absltest.TestCase):
|
|
|
|
def setUp(self):
|
|
super().setUp()
|
|
self.struct_type = ast_nodes.ValueType("MyStruct")
|
|
self.ptr_to_int = ast_nodes.PointerType(ast_nodes.ValueType("int"))
|
|
self.func_ret_ptr_int = ast_nodes.FunctionDecl(
|
|
"func_pi", ast_nodes.PointerType(ast_nodes.ValueType("int")), [], "doc"
|
|
)
|
|
self.func_ret_ptr_struct = ast_nodes.FunctionDecl(
|
|
"func_ps",
|
|
ast_nodes.PointerType(ast_nodes.ValueType("MyStruct")),
|
|
[],
|
|
"doc",
|
|
)
|
|
|
|
def test_param_is_primitive_value(self):
|
|
param_prim_val = ast_nodes.FunctionParameterDecl(
|
|
"prim_v", ast_nodes.ValueType("int")
|
|
)
|
|
param_arr = ast_nodes.FunctionParameterDecl(
|
|
"arr_v", ast_nodes.ArrayType(ast_nodes.ValueType("int"), extents=(10,))
|
|
)
|
|
|
|
self.assertTrue(functions.param_is_primitive_value(param_prim_val))
|
|
self.assertFalse(functions.param_is_primitive_value(param_arr))
|
|
|
|
def test_should_be_wrapped_with_primitive_ptr_return(self):
|
|
func = ast_nodes.FunctionDecl(
|
|
name="get_data",
|
|
return_type=ast_nodes.PointerType(ast_nodes.ValueType("int")),
|
|
parameters=tuple(),
|
|
doc="Returns int pointer",
|
|
)
|
|
self.assertTrue(common.should_be_wrapped(func))
|
|
|
|
def test_generate_function_wrapper_for_simple_func(self):
|
|
func = ast_nodes.FunctionDecl(
|
|
name="mj_defaultLROpt",
|
|
return_type=ast_nodes.ValueType("void"),
|
|
parameters=(
|
|
ast_nodes.FunctionParameterDecl(
|
|
name="opt",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType("mjLROpt"),
|
|
),
|
|
),
|
|
),
|
|
doc="Set default options for length range computation.",
|
|
)
|
|
result = functions.generate_function_wrapper(func)
|
|
self.assertEqual(
|
|
result,
|
|
"""void mj_defaultLROpt_wrapper(MjLROpt& opt) {
|
|
mj_defaultLROpt(opt.get());
|
|
}""",
|
|
)
|
|
|
|
def test_generate_function_wrapper_checking_param(self):
|
|
func = ast_nodes.FunctionDecl(
|
|
name="mj_extractState",
|
|
return_type=ast_nodes.ValueType(name="void"),
|
|
parameters=(
|
|
ast_nodes.FunctionParameterDecl(
|
|
name="m",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(
|
|
name="mjModel", is_const=True
|
|
),
|
|
),
|
|
),
|
|
ast_nodes.FunctionParameterDecl(
|
|
name="src",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(
|
|
name="mjtNum", is_const=True
|
|
),
|
|
),
|
|
),
|
|
ast_nodes.FunctionParameterDecl(
|
|
name="srcsig",
|
|
type=ast_nodes.ValueType(name="unsigned int"),
|
|
),
|
|
ast_nodes.FunctionParameterDecl(
|
|
name="dst",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="mjtNum"),
|
|
),
|
|
),
|
|
ast_nodes.FunctionParameterDecl(
|
|
name="dstsig",
|
|
type=ast_nodes.ValueType(name="unsigned int"),
|
|
),
|
|
),
|
|
doc="Extract a subset of components from a state previously obtained via mj_getState.", # pylint: disable=line-too-long
|
|
)
|
|
result = functions.generate_function_wrapper(func)
|
|
self.assertEqual(
|
|
result,
|
|
"""void mj_extractState_wrapper(const MjModel& m, const NumberArray& src, unsigned int srcsig, const val& dst, unsigned int dstsig) {
|
|
UNPACK_ARRAY(mjtNum, src);
|
|
UNPACK_VALUE(mjtNum, dst);
|
|
mj_extractState(m.get(), src_.data(), srcsig, dst_.data(), dstsig);
|
|
}""",
|
|
)
|
|
|
|
def test_get_params_string_with_struct_ptr(self):
|
|
param = ast_nodes.FunctionParameterDecl(
|
|
name="my_struct",
|
|
type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
|
|
)
|
|
result = functions.get_param_string(param)
|
|
self.assertEqual(result, "Mystruct& my_struct")
|
|
|
|
def test_get_params_string_maybe_with_conversion_struct_ptr(self):
|
|
param = ast_nodes.FunctionParameterDecl(
|
|
name="s",
|
|
type=ast_nodes.PointerType(ast_nodes.ValueType("customstruct")),
|
|
)
|
|
result = functions.get_params_string_maybe_with_conversion((param,))
|
|
self.assertEqual(result, "s.get()")
|
|
|
|
def test_get_compatible_return_code(self):
|
|
func = ast_nodes.FunctionDecl(
|
|
name="noop",
|
|
return_type=ast_nodes.ValueType("void"),
|
|
parameters=tuple(),
|
|
doc="does nothing",
|
|
)
|
|
result = functions.get_compatible_return_code(func)
|
|
self.assertEqual(result, "noop();")
|
|
|
|
def test_get_compatible_return_type(self):
|
|
func = ast_nodes.FunctionDecl(
|
|
name="get_name",
|
|
return_type=ast_nodes.PointerType(ast_nodes.ValueType("char")),
|
|
parameters=tuple(),
|
|
doc="returns name",
|
|
)
|
|
result = functions.get_compatible_return_type(func)
|
|
self.assertEqual(result.strip(), "std::string")
|
|
|
|
def test_get_optional_return_code(self):
|
|
func = ast_nodes.FunctionDecl(
|
|
name="get_struct",
|
|
return_type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
|
|
parameters=tuple(),
|
|
doc="returns struct",
|
|
)
|
|
result = functions.get_optional_return_code(func, "get_struct()")
|
|
self.assertIn("mystruct* result = get_struct();", result)
|
|
self.assertIn("return Mystruct(result)", result)
|
|
|
|
def test_is_excluded_function_name(self):
|
|
self.assertTrue(functions.is_excluded_function_name("mjr_function"))
|
|
self.assertTrue(functions.is_excluded_function_name("mjui_function"))
|
|
self.assertTrue(functions.is_excluded_function_name("mju_malloc"))
|
|
self.assertTrue(functions.is_excluded_function_name("mj_makeData"))
|
|
self.assertFalse(functions.is_excluded_function_name("mjv_updateScene"))
|
|
self.assertFalse(functions.is_excluded_function_name("mj_normalFunction"))
|
|
self.assertFalse(
|
|
functions.is_excluded_function_name("mju_someOtherFunction")
|
|
)
|
|
|
|
|
|
class StructConstructorCodeBuilderTest(absltest.TestCase):
|
|
|
|
def test_constructor_code_with_fields_with_init(self):
|
|
field_with_init = 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_with_init, "MjsTexture"
|
|
)
|
|
self.assertEqual(
|
|
structs.build_struct_source(
|
|
"mjsTexture",
|
|
[wrapped_field_data],
|
|
),
|
|
"""
|
|
MjsTexture::MjsTexture(mjsTexture *ptr) : ptr_(ptr), element(ptr_->element) {}
|
|
mjsTexture* MjsTexture::get() const {
|
|
return ptr_;
|
|
}
|
|
void MjsTexture::set(mjsTexture* ptr) {
|
|
ptr_ = ptr;
|
|
}
|
|
""".strip(),
|
|
)
|
|
|
|
def test_constructor_code_with_shallow_copy(self):
|
|
self.assertEqual(
|
|
structs.build_struct_source("mjvLight", []),
|
|
"""MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
|
|
MjvLight::~MjvLight() {
|
|
if (owned_ && ptr_) {
|
|
delete ptr_;
|
|
}
|
|
}
|
|
MjvLight::MjvLight() : ptr_(new mjvLight()) {
|
|
owned_ = true;
|
|
}
|
|
MjvLight::MjvLight(const MjvLight &other) : MjvLight() {
|
|
*ptr_ = *other.get();
|
|
}
|
|
MjvLight& MjvLight::operator=(const MjvLight &other) {
|
|
if (this == &other) {
|
|
return *this;
|
|
}
|
|
*ptr_ = *other.get();
|
|
return *this;
|
|
}
|
|
std::unique_ptr<MjvLight> MjvLight::copy() {
|
|
return std::make_unique<MjvLight>(*this);
|
|
}
|
|
mjvLight* MjvLight::get() const {
|
|
return ptr_;
|
|
}
|
|
void MjvLight::set(mjvLight* ptr) {
|
|
ptr_ = ptr;
|
|
}
|
|
""".strip(),
|
|
)
|
|
|
|
|
|
def test_build_struct_header_with_nested_wrappers(self):
|
|
self.assertEqual(
|
|
structs.build_struct_header("mjData", []),
|
|
"",
|
|
)
|
|
|
|
|
|
def test_build_struct_header_basic_struct(self):
|
|
self.assertEqual(
|
|
structs.build_struct_header("mjLROpt", []),
|
|
"""
|
|
struct MjLROpt {
|
|
MjLROpt();
|
|
MjLROpt(const MjLROpt &);
|
|
MjLROpt &operator=(const MjLROpt &);
|
|
explicit MjLROpt(mjLROpt *ptr);
|
|
~MjLROpt();
|
|
mjLROpt* get() const { return ptr_; }
|
|
void set(mjLROpt* ptr) { ptr_ = ptr; }
|
|
|
|
private:
|
|
mjLROpt* ptr_;
|
|
bool owned_ = false;
|
|
};
|
|
""".strip(),
|
|
)
|
|
|
|
|
|
class StructFieldCodeBuilderTest(absltest.TestCase):
|
|
|
|
def test_primitive_type_definition(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="ngeom",
|
|
type=ast_nodes.ValueType(name="int"),
|
|
doc="number of geoms",
|
|
)
|
|
self.assertEqual(
|
|
structs._generate_field_data(field, "ngeom").declaration,
|
|
"""
|
|
int ngeom() const {
|
|
return ptr_->ngeom;
|
|
}
|
|
void set_ngeom(int value) {
|
|
ptr_->ngeom = value;
|
|
}
|
|
""".strip(),
|
|
)
|
|
|
|
def test_memory_view_definition(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="geom_rgba",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="float"),
|
|
),
|
|
doc="rgba when material is omitted",
|
|
array_extent=("ngeom", 4),
|
|
)
|
|
self.assertEqual(
|
|
structs._generate_field_data(field, "geom_rgba").declaration,
|
|
"""
|
|
emscripten::val geom_rgba() const {
|
|
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
|
|
}
|
|
""".strip(),
|
|
)
|
|
|
|
def test_string_field_definition(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="string_field",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="mjString"),
|
|
),
|
|
doc="rgba when material is omitted",
|
|
)
|
|
self.assertEqual(
|
|
structs._generate_field_data(field, "MjString").declaration,
|
|
"""
|
|
mjString string_field() const {
|
|
return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
|
|
}
|
|
void set_string_field(const mjString& value) {
|
|
if (ptr_ && ptr_->string_field) {
|
|
*(ptr_->string_field) = value;
|
|
}
|
|
}
|
|
""".strip(),
|
|
)
|
|
|
|
def test_mjvec_pointer_definition(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="vector_field",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="mjDoubleVec"),
|
|
),
|
|
doc="",
|
|
)
|
|
self.assertEqual(
|
|
structs._generate_field_data(field, "mjDoubleVec").declaration,
|
|
"""
|
|
mjDoubleVec &vector_field() const {
|
|
return *(ptr_->vector_field);
|
|
}""".strip(),
|
|
)
|
|
|
|
def test_mjbyte_vec_pointer_definition(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="vector_field",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="mjByteVec"),
|
|
),
|
|
doc="",
|
|
)
|
|
self.assertEqual(
|
|
structs._generate_field_data(field, "mjByteVec").declaration,
|
|
"""
|
|
std::vector<uint8_t> &vector_field() const {
|
|
return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
|
|
}""".strip(),
|
|
)
|
|
|
|
def test_get_property_binding(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="ngeom",
|
|
type=ast_nodes.ValueType(name="int"),
|
|
doc="number of geoms",
|
|
)
|
|
self.assertEqual(
|
|
structs._get_property_binding(field, "MjModel"),
|
|
'.property("ngeom", &MjModel::ngeom)',
|
|
)
|
|
|
|
def test_get_property_binding_with_setter(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="ngeom",
|
|
type=ast_nodes.ValueType(name="int"),
|
|
doc="",
|
|
)
|
|
self.assertEqual(
|
|
structs._get_property_binding(field, "MjModel", True),
|
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
|
|
)
|
|
|
|
def test_get_property_binding_with_return_value_policy_as_ref(self):
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="ngeom",
|
|
type=ast_nodes.ValueType(name="int"),
|
|
doc="",
|
|
)
|
|
self.assertEqual(
|
|
structs._get_property_binding(
|
|
field,
|
|
"MjModel",
|
|
setter=True,
|
|
reference=True,
|
|
),
|
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
|
|
)
|
|
|
|
|
|
class StructFieldHandlerTest(absltest.TestCase):
|
|
|
|
def test_scalar_field(self):
|
|
"""Test that a scalar type field is handled correctly."""
|
|
field_scalar = ast_nodes.StructFieldDecl(
|
|
name="ngeom",
|
|
type=ast_nodes.ValueType(name="int"),
|
|
doc="number of geoms",
|
|
)
|
|
|
|
wrapped_field_data = structs._generate_field_data(field_scalar, "MjModel")
|
|
self.assertEqual(
|
|
wrapped_field_data.declaration,
|
|
"""
|
|
int ngeom() const {
|
|
return ptr_->ngeom;
|
|
}
|
|
void set_ngeom(int value) {
|
|
ptr_->ngeom = value;
|
|
}
|
|
""".strip(),
|
|
)
|
|
self.assertEqual(
|
|
wrapped_field_data.binding,
|
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
|
|
)
|
|
|
|
def test_pointer_type_field(self):
|
|
"""Test that a pointer type field is handled correctly."""
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="geom_rgba",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="float"),
|
|
),
|
|
doc="rgba when material is omitted",
|
|
array_extent=("ngeom", 4),
|
|
)
|
|
wrapped_field_data = structs._generate_field_data(field, "MjModel")
|
|
|
|
self.assertEqual(
|
|
wrapped_field_data.declaration,
|
|
("""
|
|
emscripten::val geom_rgba() const {
|
|
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
|
|
}
|
|
""".strip()),
|
|
)
|
|
|
|
self.assertEqual(
|
|
wrapped_field_data.binding,
|
|
'.property("geom_rgba", &MjModel::geom_rgba)',
|
|
)
|
|
|
|
def test_pointer_type_field_for_byte_type(self):
|
|
"""Test that a pointer type field for a byte type is handled correctly."""
|
|
field = ast_nodes.StructFieldDecl(
|
|
name="buffer",
|
|
type=ast_nodes.PointerType(
|
|
inner_type=ast_nodes.ValueType(name="void"),
|
|
),
|
|
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()
|