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debugging_test.py
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175 lines (150 loc) · 6.89 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 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'^(.*)<!--pymjcfdebug:(\d+)-->$')
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()