# Copyright 2018 The dm_control Authors.

#

# 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.

# ============================================================================

"""Constructs models for debugging_test.py.

The purpose of this file is to provide "golden" source line numbers for test

cases in debugging_test.py. When this module is loaded, it inspects its own

source code to look for lines that begin with `# !!LINE_REF`, and stores the

following line number in a dict. This allows test cases to look up the line

number by name, rather than brittly hard-coding in the line number.

"""

import collections

import os

import re

from dm_control import mjcf

SourceLine = collections.namedtuple(

'SourceLine', ('line_number', 'text'))

LINE_REF = {}

def make_valid_model():

# !!LINE_REF make_valid_model.mjcf_model

mjcf_model = mjcf.RootElement()

# !!LINE_REF make_valid_model.my_body

my_body = mjcf_model.worldbody.add('body', name='my_body')

my_body.add('inertial', mass=1, pos=[0, 0, 0], diaginertia=[1, 1, 1])

# !!LINE_REF make_valid_model.my_joint

my_joint = my_body.add('joint', name='my_joint', type='hinge')

# !!LINE_REF make_valid_model.my_actuator

mjcf_model.actuator.add('velocity', name='my_actuator', joint=my_joint)

return mjcf_model

def make_broken_model():

# !!LINE_REF make_broken_model.mjcf_model

mjcf_model = mjcf.RootElement()

# !!LINE_REF make_broken_model.my_body

my_body = mjcf_model.worldbody.add('body', name='my_body')

my_body.add('inertial', mass=1, pos=[0, 0, 0], diaginertia=[1, 1, 1])

# !!LINE_REF make_broken_model.my_joint

my_body.add('joint', name='my_joint', type='hinge')

# !!LINE_REF make_broken_model.my_actuator

mjcf_model.actuator.add('velocity', name='my_actuator', joint='invalid_joint')

return mjcf_model

def break_valid_model(mjcf_model):

# !!LINE_REF break_valid_model.my_actuator.joint

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

return mjcf_model

def _parse_line_refs():

line_ref_pattern = re.compile(r'\s*# !!LINE_REF\s*([^\s]+)')

filename, _ = os.path.splitext(__file__) # __file__ can be `.pyc`.

with open(filename + '.py') as f:

src = f.read()

src_lines = src.split('\n')

for line_number, line in enumerate(src_lines):

match = line_ref_pattern.match(line)

if match:

LINE_REF[match.group(1)] = SourceLine(

line_number + 2, src_lines[line_number + 1].strip())

_parse_line_refs()