# Copyright 2017-2018 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.

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

"""Integration tests for rendering."""

import os

import platform

from absl.testing import absltest

from absl.testing import parameterized

from dm_control import _render

from dm_control import mujoco

from dm_control.mujoco.testing import decorators

from dm_control.mujoco.testing import image_utils

DEBUG_IMAGE_DIR = os.environ.get('TEST_UNDECLARED_OUTPUTS_DIR',

absltest.get_default_test_tmpdir())

# TODO(nimrod): Reduce the tolerance if we can figure out why the tests

# fail.

_RMS_TOLERANCE = 80.0

# Context creation with GLFW is not threadsafe.

if _render.BACKEND == 'glfw':

# On Linux we are able to create a GLFW window in a single thread that is not

# the main thread.

# On Mac we are only allowed to create windows on the main thread, so we

# disable the `run_threaded` wrapper entirely.

NUM_THREADS = None if platform.system() == 'Darwin' else 1

else:

NUM_THREADS = 4

CALLS_PER_THREAD = 1

class RenderTest(parameterized.TestCase):

@parameterized.named_parameters(image_utils.SEQUENCES.items())

@image_utils.save_images_on_failure(output_dir=DEBUG_IMAGE_DIR)

@decorators.run_threaded(num_threads=NUM_THREADS,

calls_per_thread=CALLS_PER_THREAD)

def test_render(self, sequence):

for expected, actual in zip(sequence.iter_load(), sequence.iter_render()):

image_utils.assert_images_close(

expected, actual, tolerance=_RMS_TOLERANCE

)

@decorators.run_threaded(num_threads=NUM_THREADS,

calls_per_thread=CALLS_PER_THREAD)

@image_utils.save_images_on_failure(output_dir=DEBUG_IMAGE_DIR)

def test_render_multiple_physics_per_thread(self):

cartpole = image_utils.cartpole

humanoid = image_utils.humanoid

cartpole_frames = []

humanoid_frames = []

for cartpole_frame, humanoid_frame in zip(cartpole.iter_render(),

humanoid.iter_render()):

cartpole_frames.append(cartpole_frame)

humanoid_frames.append(humanoid_frame)

for expected, actual in zip(cartpole.iter_load(), cartpole_frames):

image_utils.assert_images_close(

expected, actual, tolerance=_RMS_TOLERANCE

)

for expected, actual in zip(humanoid.iter_load(), humanoid_frames):

image_utils.assert_images_close(

expected, actual, tolerance=_RMS_TOLERANCE

)

@decorators.run_threaded(num_threads=NUM_THREADS, calls_per_thread=1)

def test_repeatedly_create_and_destroy_rendering_contexts(self):

# Tests for errors that may occur due to per-thread GL resource leakage.

physics = mujoco.Physics.from_xml_string('<mujoco/>')

for _ in range(500):

physics._make_rendering_contexts()

physics._free_rendering_contexts()

if __name__ == '__main__':

absltest.main()