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479 lines (391 loc) · 18.2 KB
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# 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.
# ============================================================================
"""Tests of the viewer.py module."""
from absl.testing import absltest
from dm_control.mujoco.wrapper.mjbindings import enums
from dm_control.viewer import util
from dm_control.viewer import viewer
import mock
class ViewerTest(absltest.TestCase):
def setUp(self):
super().setUp()
self.viewport = mock.MagicMock()
self.mouse = mock.MagicMock()
self.keyboard = mock.MagicMock()
self.viewer = viewer.Viewer(self.viewport, self.mouse, self.keyboard)
self.viewer._render_settings = mock.MagicMock()
self.physics = mock.MagicMock()
self.renderer = mock.MagicMock()
self.renderer.priority_components = util.QuietSet()
def _extract_bind_call_args(self, bind_mock):
call_args = []
for calls in bind_mock.call_args_list:
args = calls[0]
if len(args) == 2:
call_args.append(args[1])
return call_args
def test_initialize_creates_components(self):
with mock.patch(viewer.__name__ + '.renderer'):
self.viewer.initialize(self.physics, self.renderer, touchpad=False)
self.assertIsNotNone(self.viewer._camera)
self.assertIsNotNone(self.viewer._manipulator)
self.assertIsNotNone(self.viewer._free_camera)
self.assertIsNotNone(self.viewer._camera_select)
self.assertEqual(self.renderer, self.viewer._renderer)
def test_initialize_creates_touchpad_specific_input_mapping(self):
self.viewer._input_map = mock.MagicMock()
with mock.patch(viewer.__name__ + '.renderer'):
self.viewer.initialize(self.physics, self.renderer, touchpad=True)
call_args = self._extract_bind_call_args(self.viewer._input_map.bind)
self.assertIn(viewer._MOVE_OBJECT_VERTICAL_TOUCHPAD, call_args)
self.assertIn(viewer._MOVE_OBJECT_HORIZONTAL_TOUCHPAD, call_args)
self.assertIn(viewer._ROTATE_OBJECT_TOUCHPAD, call_args)
self.assertIn(viewer._PAN_CAMERA_VERTICAL_TOUCHPAD, call_args)
self.assertIn(viewer._PAN_CAMERA_HORIZONTAL_TOUCHPAD, call_args)
def test_initialize_create_mouse_specific_input_mapping(self):
self.viewer._input_map = mock.MagicMock()
with mock.patch(viewer.__name__ + '.renderer'):
self.viewer.initialize(self.physics, self.renderer, touchpad=False)
call_args = self._extract_bind_call_args(self.viewer._input_map.bind)
self.assertIn(viewer._MOVE_OBJECT_VERTICAL_MOUSE, call_args)
self.assertIn(viewer._MOVE_OBJECT_HORIZONTAL_MOUSE, call_args)
self.assertIn(viewer._ROTATE_OBJECT_MOUSE, call_args)
self.assertIn(viewer._PAN_CAMERA_VERTICAL_MOUSE, call_args)
self.assertIn(viewer._PAN_CAMERA_HORIZONTAL_MOUSE, call_args)
def test_initialization_flushes_old_input_map(self):
self.viewer._input_map = mock.MagicMock()
with mock.patch(viewer.__name__ + '.renderer'):
self.viewer.initialize(self.physics, self.renderer, touchpad=False)
self.viewer._input_map.clear_bindings.assert_called_once()
def test_deinitialization_deletes_components(self):
self.viewer._camera = mock.MagicMock()
self.viewer._manipulator = mock.MagicMock()
self.viewer._free_camera = mock.MagicMock()
self.viewer._camera_select = mock.MagicMock()
self.viewer._renderer = mock.MagicMock()
self.viewer.deinitialize()
self.assertIsNone(self.viewer._camera)
self.assertIsNone(self.viewer._manipulator)
self.assertIsNone(self.viewer._free_camera)
self.assertIsNone(self.viewer._camera_select)
self.assertIsNone(self.viewer._renderer)
def test_deinitialization_flushes_old_input_map(self):
self.viewer._input_map = mock.MagicMock()
self.viewer.deinitialize()
self.viewer._input_map.clear_bindings.assert_called_once()
def test_rendering_uninitialized(self):
self.viewer.render() # nothing crashes
def test_zoom_to_scene_uninitialized(self):
self.viewer.zoom_to_scene() # nothing crashes
def test_rendering(self):
self.viewer._camera = mock.MagicMock()
self.viewer._renderer = mock.MagicMock()
self.viewer.render()
self.viewer._camera.render.assert_called_once_with(self.viewer.perturbation)
self.viewer._renderer.render.assert_called_once()
def test_applying_render_settings_before_rendering_a_scene(self):
self.viewer._camera = mock.MagicMock()
self.viewer._renderer = mock.MagicMock()
self.viewer.render()
self.viewer._render_settings.apply_settings.assert_called_once()
def test_zoom_to_scene(self):
self.viewer._camera = mock.MagicMock()
self.viewer.zoom_to_scene()
self.viewer._camera.zoom_to_scene.assert_called_once()
def test_retrieving_perturbation(self):
object_perturbation = mock.MagicMock()
self.viewer._manipulator = mock.MagicMock()
self.viewer._manipulator.perturbation = object_perturbation
self.assertEqual(object_perturbation, self.viewer.perturbation)
def test_retrieving_perturbation_without_manipulator(self):
self.viewer._manipulator = None
self.assertEqual(self.viewer._null_perturbation, self.viewer.perturbation)
def test_retrieving_perturbation_without_selected_object(self):
self.viewer._manipulator = mock.MagicMock()
self.viewer._manipulator.perturbation = None
self.assertEqual(self.viewer._null_perturbation, self.viewer.perturbation)
class CameraSelectorTest(absltest.TestCase):
def setUp(self):
super().setUp()
self.camera = mock.MagicMock()
self.model = mock.MagicMock()
self.free_camera = mock.MagicMock()
self.model.ncam = 2
options = {
'camera': self.camera,
'model': self.model,
'free_camera': self.free_camera
}
self.controller = viewer.CameraSelector(**options)
def test_activating_freelook_camera_by_default(self):
self.assertEqual(self.controller._free_ctrl, self.controller._active_ctrl)
def test_cycling_forward_through_cameras(self):
self.controller.select_next()
self.assertIsNone(self.controller._active_ctrl)
self.controller._free_ctrl.deactivate.assert_called_once()
self.controller._free_ctrl.reset_mock()
self.controller._camera.set_fixed_mode.assert_called_once_with(0)
self.controller._camera.reset_mock()
self.controller.select_next()
self.assertIsNone(self.controller._active_ctrl)
self.controller._camera.set_fixed_mode.assert_called_once_with(1)
self.controller._camera.reset_mock()
self.controller.select_next()
self.assertEqual(self.controller._free_ctrl, self.controller._active_ctrl)
self.controller._free_ctrl.activate.assert_called_once()
def test_cycling_backwards_through_cameras(self):
self.controller.select_previous()
self.assertIsNone(self.controller._active_ctrl)
self.controller._free_ctrl.deactivate.assert_called_once()
self.controller._free_ctrl.reset_mock()
self.controller._camera.set_fixed_mode.assert_called_once_with(1)
self.controller._camera.reset_mock()
self.controller.select_previous()
self.assertIsNone(self.controller._active_ctrl)
self.controller._camera.set_fixed_mode.assert_called_once_with(0)
self.controller._camera.reset_mock()
self.controller.select_previous()
self.assertEqual(self.controller._free_ctrl, self.controller._active_ctrl)
self.controller._free_ctrl.activate.assert_called_once()
def test_controller_activation(self):
old_controller = mock.MagicMock()
new_controller = mock.MagicMock()
self.controller._active_ctrl = old_controller
self.controller._activate(new_controller)
old_controller.deactivate.assert_called_once()
new_controller.activate.assert_called_once()
def test_controller_activation_not_repeated_for_already_active_one(self):
controller = mock.MagicMock()
self.controller._active_ctrl = controller
self.controller._activate(controller)
self.assertEqual(0, controller.deactivate.call_count)
self.assertEqual(0, controller.activate.call_count)
class FreeCameraControllerTest(absltest.TestCase):
def setUp(self):
super().setUp()
self.viewport = mock.MagicMock()
self.camera = mock.MagicMock()
self.mouse = mock.MagicMock()
self.selection_service = mock.MagicMock()
options = {
'camera': self.camera,
'viewport': self.viewport,
'pointer': self.mouse,
'selection_service': self.selection_service
}
self.controller = viewer.FreeCameraController(**options)
self.controller._action = mock.MagicMock()
def test_activation_while_not_in_tracking_mode(self):
self.controller._tracked_body_idx = -1
self.controller.activate()
self.camera.set_freelook_mode.assert_called_once()
def test_activation_while_in_tracking_mode(self):
self.controller._tracked_body_idx = 1
self.controller.activate()
self.camera.set_tracking_mode.assert_called_once_with(1)
def test_activation_and_deactivation_flag(self):
self.controller.activate()
self.assertTrue(self.controller._active)
self.controller.deactivate()
self.assertFalse(self.controller._active)
def test_vertical_panning_camera_with_active_controller(self):
self.controller._active = True
self.controller.set_pan_vertical_mode(True)
self.controller._action.begin.assert_called_once_with(
enums.mjtMouse.mjMOUSE_MOVE_V)
self.controller.set_pan_vertical_mode(False)
self.controller._action.end.assert_called_once_with(
enums.mjtMouse.mjMOUSE_MOVE_V)
def test_vertical_panning_camera_with_inactive_controller(self):
self.controller._active = False
self.controller.set_pan_vertical_mode(True)
self.assertEqual(0, self.controller._action.begin.call_count)
self.controller.set_pan_vertical_mode(False)
self.assertEqual(0, self.controller._action.end.call_count)
def test_horizontal_panning_camera_with_active_controller(self):
self.controller._active = True
self.controller.set_pan_horizontal_mode(True)
self.controller._action.begin.assert_called_once_with(
enums.mjtMouse.mjMOUSE_MOVE_H)
self.controller.set_pan_horizontal_mode(False)
self.controller._action.end.assert_called_once_with(
enums.mjtMouse.mjMOUSE_MOVE_H)
def test_horizontal_panning_camera_with_inactive_controller(self):
self.controller._active = False
self.controller.set_pan_horizontal_mode(True)
self.assertEqual(0, self.controller._action.begin.call_count)
self.controller.set_pan_horizontal_mode(False)
self.assertEqual(0, self.controller._action.end.call_count)
def test_rotating_camera_with_active_controller(self):
self.controller._active = True
self.controller.set_rotate_mode(True)
self.controller._action.begin.assert_called_once_with(
enums.mjtMouse.mjMOUSE_ROTATE_H)
self.controller.set_rotate_mode(False)
self.controller._action.end.assert_called_once_with(
enums.mjtMouse.mjMOUSE_ROTATE_H)
def test_rotating_camera_with_inactive_controller(self):
self.controller._active = False
self.controller.set_rotate_mode(True)
self.assertEqual(0, self.controller._action.begin.call_count)
self.controller.set_rotate_mode(False)
self.assertEqual(0, self.controller._action.end.call_count)
def test_centering_with_active_controller(self):
self.controller._active = True
self.camera.raycast.return_value = 1, 2
self.controller.center()
self.camera.raycast.assert_called_once()
def test_centering_with_inactive_controller(self):
self.controller._active = False
self.controller.center()
self.assertEqual(0, self.camera.raycast.call_count)
def test_moving_mouse_moves_camera(self):
position = [100, 200]
translation = [1, 0]
viewport_space_translation = [2, 0]
action = 1
self.viewport.screen_to_viewport.return_value = viewport_space_translation
self.controller._action.in_progress = True
self.controller._action.watermark = action
self.controller.on_move(position, translation)
self.viewport.screen_to_viewport.assert_called_once_with(translation)
self.camera.move.assert_called_once_with(action, viewport_space_translation)
def test_mouse_move_doesnt_work_without_an_action_selected(self):
self.controller._action.in_progress = False
self.controller.on_move([], [])
self.assertEqual(0, self.camera.move.call_count)
def test_zoom_with_active_controller(self):
self.controller._active = True
expected_zoom_vector = [0, -0.05]
self.controller.zoom(1.)
self.camera.move.assert_called_once_with(
enums.mjtMouse.mjMOUSE_ZOOM, expected_zoom_vector)
def test_zoom_with_inactive_controller(self):
self.controller._active = False
self.controller.zoom(1.)
self.assertEqual(0, self.camera.move.call_count)
def test_tracking_with_active_controller(self):
self.controller._active = True
selected_body_id = 5
self.selection_service.selected_body_id = selected_body_id
self.controller._tracked_body_idx = -1
self.controller.track()
self.assertEqual(self.controller._tracked_body_idx, selected_body_id)
self.camera.set_tracking_mode.assert_called_once_with(selected_body_id)
def test_tracking_with_inactive_controller(self):
self.controller._active = False
selected_body_id = 5
self.selection_service.selected_body_id = selected_body_id
self.controller.track()
self.assertEqual(self.controller._tracked_body_idx, -1)
self.assertEqual(0, self.camera.set_tracking_mode.call_count)
def test_free_look_mode_with_active_controller(self):
self.controller._active = True
self.controller._tracked_body_idx = 5
self.controller.free_look()
self.assertEqual(self.controller._tracked_body_idx, -1)
self.camera.set_freelook_mode.assert_called_once()
def test_free_look_mode_with_inactive_controller(self):
self.controller._active = False
self.controller._tracked_body_idx = 5
self.controller.free_look()
self.assertEqual(self.controller._tracked_body_idx, 5)
self.assertEqual(0, self.camera.set_freelook_mode.call_count)
class ManipulationControllerTest(absltest.TestCase):
def setUp(self):
super().setUp()
self.viewport = mock.MagicMock()
self.camera = mock.MagicMock()
self.mouse = mock.MagicMock()
options = {
'camera': self.camera,
'viewport': self.viewport,
'pointer': self.mouse,
}
self.controller = viewer.ManipulationController(**options)
self.body_id = 1
self.click_pos_on_body = [1, 2, 3]
self.camera.raycast.return_value = (self.body_id, self.click_pos_on_body)
def test_selecting_a_body(self):
self.camera.raycast.return_value = (self.body_id, self.click_pos_on_body)
self.controller.select()
self.assertIsNotNone(self.controller._perturb)
def test_selecting_empty_space_cancels_selection(self):
self.camera.raycast.return_value = (-1, None)
self.controller.select()
self.assertIsNone(self.controller._perturb)
def test_vertical_movement_operation(self):
self.controller._perturb = mock.MagicMock()
self.controller.set_move_vertical_mode(True)
self.controller._perturb.start_move.assert_called_once()
self.assertEqual(enums.mjtMouse.mjMOUSE_MOVE_V,
self.controller._perturb.start_move.call_args[0][0])
self.controller.set_move_vertical_mode(False)
self.controller._perturb.end_move.assert_called_once()
def test_horzontal_movement_operation(self):
self.controller._perturb = mock.MagicMock()
self.controller.set_move_horizontal_mode(True)
self.controller._perturb.start_move.assert_called_once()
self.assertEqual(enums.mjtMouse.mjMOUSE_MOVE_H,
self.controller._perturb.start_move.call_args[0][0])
self.controller.set_move_horizontal_mode(False)
self.controller._perturb.end_move.assert_called_once()
def test_rotation_operation(self):
self.controller._perturb = mock.MagicMock()
self.controller.set_rotate_mode(True)
self.controller._perturb.start_move.assert_called_once()
self.assertEqual(enums.mjtMouse.mjMOUSE_ROTATE_H,
self.controller._perturb.start_move.call_args[0][0])
self.controller.set_rotate_mode(False)
self.controller._perturb.end_move.assert_called_once()
def test_every_action_generates_a_fresh_grab_pos(self):
some_action = 0
self.controller._perturb = mock.MagicMock()
self.controller._update_action(some_action)
self.camera.raycast.assert_called_once()
def test_actions_not_started_without_object_selected(self):
some_action = 0
self.controller._perturb = None
self.controller._update_action(some_action)
self.assertEqual(0, self.camera.raycast.call_count)
def test_on_move_requires_an_action_to_be_started_first(self):
self.controller._perturb = mock.MagicMock()
self.controller._action = mock.MagicMock()
self.controller._action.in_progress = False
self.controller.on_move([], [])
self.assertEqual(0, self.controller._perturb.tick_move.call_count)
def test_dragging_selected_object_moves_it(self):
screen_pos = [1, 2]
screen_translation = [3, 4]
viewport_offset = [5, 6]
self.controller._perturb = mock.MagicMock()
self.controller._action = mock.MagicMock()
self.controller._action.in_progress = True
self.viewport.screen_to_viewport.return_value = viewport_offset
self.controller.on_move(screen_pos, screen_translation)
self.viewport.screen_to_viewport.assert_called_once_with(screen_translation)
self.controller._perturb.tick_move.assert_called_once_with(viewport_offset)
def test_operations_require_object_to_be_selected(self):
self.controller._perturb = None
# No exceptions should be raised.
self.controller.set_move_vertical_mode(True)
self.controller.set_move_vertical_mode(False)
self.controller.set_move_horizontal_mode(True)
self.controller.set_move_horizontal_mode(False)
self.controller.set_rotate_mode(True)
self.controller.set_rotate_mode(False)
self.controller.on_move([1, 2], [3, 4])
if __name__ == '__main__':
absltest.main()