dm_control/dm_control/mjcf/debugging_test.py at main · google-deepmind/dm_control · GitHub

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# 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 `mjcf.debugging`."""

import contextlib

import os

import re

import shutil

import sys

from absl.testing import absltest

from dm_control import mjcf

from dm_control.mjcf import code_for_debugging_test as test_code

from dm_control.mjcf import debugging

ORIGINAL_DEBUG_MODE = debugging.debug_mode()

class DebuggingTest(absltest.TestCase):

def tearDown(self):

super().tearDown()

if ORIGINAL_DEBUG_MODE:

debugging.enable_debug_mode()

else:

debugging.disable_debug_mode()

def setup_debug_mode(self, debug_mode_enabled, full_dump_enabled=False):

if debug_mode_enabled:

debugging.enable_debug_mode()

else:

debugging.disable_debug_mode()

if full_dump_enabled:

base_dir = absltest.get_default_test_tmpdir()

self.dump_dir = os.path.join(base_dir, 'mjcf_debugging_test')

shutil.rmtree(self.dump_dir, ignore_errors=True)

os.mkdir(self.dump_dir)

else:

self.dump_dir = ''

debugging.set_full_dump_dir(self.dump_dir)

def assertStackFromTestCode(self, stack, function_name, line_ref):

self.assertEqual(stack[-1].function_name, function_name)

self.assertStartsWith(test_code.__file__, stack[-1].filename)

line_info = test_code.LINE_REF['.'.join([function_name, line_ref])]

self.assertEqual(stack[-1].line_number, line_info.line_number)

self.assertEqual(stack[-1].text, line_info.text)

@contextlib.contextmanager

def assertRaisesTestCodeRef(self, line_ref):

filename, _ = os.path.splitext(test_code.__file__)

expected_message = (

filename + '.py:' + str(test_code.LINE_REF[line_ref].line_number))

print(expected_message)

with self.assertRaisesRegex(ValueError, expected_message):

yield

def test_get_current_stack_trace(self):

self.setup_debug_mode(debug_mode_enabled=True)

stack_trace = debugging.get_current_stack_trace()

self.assertStartsWith(

sys.modules[__name__].__file__, stack_trace[-1].filename)

self.assertEqual(stack_trace[-1].function_name,

'test_get_current_stack_trace')

self.assertEqual(stack_trace[-1].text,

'stack_trace = debugging.get_current_stack_trace()')

def test_disable_debug_mode(self):

self.setup_debug_mode(debug_mode_enabled=False)

mjcf_model = test_code.make_valid_model()

test_code.break_valid_model(mjcf_model)

self.assertFalse(mjcf_model.get_init_stack())

my_actuator = mjcf_model.find('actuator', 'my_actuator')

my_actuator_attrib_stacks = (

my_actuator.get_last_modified_stacks_for_all_attributes())

for stack in my_actuator_attrib_stacks.values():

self.assertFalse(stack)

def test_element_and_attribute_stacks(self):

self.setup_debug_mode(debug_mode_enabled=True)

mjcf_model = test_code.make_valid_model()

test_code.break_valid_model(mjcf_model)

self.assertStackFromTestCode(mjcf_model.get_init_stack(),

'make_valid_model', 'mjcf_model')

my_actuator = mjcf_model.find('actuator', 'my_actuator')

self.assertStackFromTestCode(my_actuator.get_init_stack(),

'make_valid_model', 'my_actuator')

my_actuator_attrib_stacks = (

my_actuator.get_last_modified_stacks_for_all_attributes())

# `name` attribute was assigned at the same time as the element was created.

self.assertEqual(my_actuator_attrib_stacks['name'],

my_actuator.get_init_stack())

# `joint` attribute was modified later on.

self.assertStackFromTestCode(my_actuator_attrib_stacks['joint'],

'break_valid_model', 'my_actuator.joint')

def test_valid_physics(self):

self.setup_debug_mode(debug_mode_enabled=True)

mjcf_model = test_code.make_valid_model()

mjcf.Physics.from_mjcf_model(mjcf_model) # Should not raise

def test_physics_error_message_outside_of_debug_mode(self):

self.setup_debug_mode(debug_mode_enabled=False)

mjcf_model = test_code.make_broken_model()

# Make sure that we advertise debug mode if it's currently disabled.

with self.assertRaisesRegex(ValueError, '--pymjcf_debug'):

mjcf.Physics.from_mjcf_model(mjcf_model)

def test_physics_error_message_in_debug_mode(self):

self.setup_debug_mode(debug_mode_enabled=True)

mjcf_model_1 = test_code.make_broken_model()

with self.assertRaisesTestCodeRef('make_broken_model.my_actuator'):

mjcf.Physics.from_mjcf_model(mjcf_model_1)

mjcf_model_2 = test_code.make_valid_model()

physics = mjcf.Physics.from_mjcf_model(mjcf_model_2) # Should not raise.

test_code.break_valid_model(mjcf_model_2)

with self.assertRaisesTestCodeRef('break_valid_model.my_actuator.joint'):

physics.reload_from_mjcf_model(mjcf_model_2)

def test_full_debug_dump(self):

self.setup_debug_mode(debug_mode_enabled=True, full_dump_enabled=False)

mjcf_model = test_code.make_valid_model()

test_code.break_valid_model(mjcf_model)

# Make sure that we advertise full dump mode if it's currently disabled.

with self.assertRaisesRegex(ValueError, '--pymjcf_debug_full_dump_dir'):

mjcf.Physics.from_mjcf_model(mjcf_model)

self.setup_debug_mode(debug_mode_enabled=True, full_dump_enabled=True)

with self.assertRaises(ValueError):

mjcf.Physics.from_mjcf_model(mjcf_model)

with open(os.path.join(self.dump_dir, 'model.xml')) as f:

dumped_xml = f.read()

dumped_xml = [line.strip() for line in dumped_xml.strip().split('\n')]

xml_line_pattern = re.compile(r'^(.*)$')

uninstrumented_pattern = re.compile(r'({})'.format(

'|'.join([

r'<mujoco model=".*">',

r'</mujoco>',

r'<default class=".*/"/?>',

r'</default>'

])))

for xml_line in dumped_xml:

print(xml_line)

xml_line_match = xml_line_pattern.match(xml_line)

if not xml_line_match:

# Only uninstrumented lines are allowed to have no metadata.

self.assertIsNotNone(uninstrumented_pattern.match(xml_line))

else:

xml_element = xml_line_match.group(1)

debug_id = int(xml_line_match.group(2))

with open(os.path.join(self.dump_dir, str(debug_id) + '.dump')) as f:

element_dump = f.read()

self.assertIn(xml_element, element_dump)

if __name__ == '__main__':

absltest.main()

dm_control/dm_control/mjcf/debugging_test.py at main · google-deepmind/dm_control · GitHub

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