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// Copyright 2019 DeepMind Technologies Limited
//
// 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.
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Xml;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.TestTools;
namespace Mujoco {
[TestFixture]
public class MjDefaultSelectorsEditorTests {
private XmlElement SetUp(string mjcfString, string selector) {
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
return mjcf.SelectSingleNode(selector) as XmlElement;
}
[TestCase("class")]
[TestCase("childclass")]
public void SelectingTopLevelClassDefault(string qualifier) {
var mjcfString = @"<mujoco>
<worldbody>
<modified QUALIFIER=""class""/>
</worldbody>
</mujoco>".Replace("QUALIFIER", qualifier);
var modifiedNode = SetUp(mjcfString, "/mujoco/worldbody/modified");
var classes = MjXmlModifiers.GetApplicableDefaultClasses(modifiedNode).ToArray();
Assert.That(classes.Length, Is.EqualTo(1));
Assert.That(
classes[0], Is.EqualTo("class"));
}
[TestCase("class")]
[TestCase("childclass")]
public void SelectingNestedClassDefaultWithInheritance(string qualifier) {
var mjcfString = @"<mujoco>
<worldbody>
<some_node childclass=""parent"">
<modified QUALIFIER=""child""/>
</some_node>
</worldbody>
</mujoco>".Replace("QUALIFIER", qualifier);
var modifiedNode = SetUp(mjcfString, "/mujoco/worldbody/some_node/modified");
var classes = MjXmlModifiers.GetApplicableDefaultClasses(modifiedNode).ToArray();
Assert.That(classes.Length, Is.EqualTo(2));
Assert.That(classes[0], Is.EqualTo("child"));
Assert.That(
classes[1], Is.EqualTo("parent"));
}
[TestCase("class")]
[TestCase("childclass")]
public void SelectingNestedClassDefaultWithoutInheritance(string qualifier) {
var mjcfString = @"<mujoco>
<worldbody>
<some_node class=""parent"">
<modified QUALIFIER=""child""/>
</some_node>
</worldbody>
</mujoco>".Replace("QUALIFIER", qualifier);
var modifiedNode = SetUp(mjcfString, "/mujoco/worldbody/some_node/modified");
var classes = MjXmlModifiers.GetApplicableDefaultClasses(modifiedNode).ToArray();
Assert.That(classes.Length, Is.EqualTo(1));
Assert.That(classes[0], Is.EqualTo("child"));
}
}
[TestFixture]
public class MjAttributeCopierEditorTests {
[Test]
public void CopyingXmlElementAttributes() {
var mjcfString = @"<root>
<tag_1 attr_1=""a"" attr_2=""b""/>
<tag_2/>
</root>";
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
var tags = new XmlElement[] {
mjcf.SelectSingleNode("/root/tag_1") as XmlElement,
mjcf.SelectSingleNode("/root/tag_2") as XmlElement
};
MjXmlModifiers.CopyAttributes(tags[0], tags[1]);
// Reselect the element to make sure we're testing the actual part of the DOM, and not its copy.
var testedElement = mjcf.SelectSingleNode("/root/tag_2") as XmlElement;
Assert.That(testedElement.GetStringAttribute("attr_1", "unknown"), Is.EqualTo("a"));
Assert.That(testedElement.GetStringAttribute("attr_2", "unknown"), Is.EqualTo("b"));
}
[Test]
public void CopyingXmlElementAttributesWithoutOverwritingTheExistingOnes() {
var mjcfString = @"<root>
<tag_1 attr_1=""a"" attr_2=""b""/>
<tag_2 attr_1=""c""/>
</root>";
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
var tags = new XmlElement[] {
mjcf.SelectSingleNode("/root/tag_1") as XmlElement,
mjcf.SelectSingleNode("/root/tag_2") as XmlElement
};
MjXmlModifiers.CopyAttributes(tags[0], tags[1]);
// Reselect the element to make sure we're testing the actual part of the DOM, and not its copy.
var testedElement = mjcf.SelectSingleNode("/root/tag_2") as XmlElement;
Assert.That(testedElement.GetStringAttribute("attr_1", "unknown"), Is.EqualTo("c"));
Assert.That(testedElement.GetStringAttribute("attr_2", "unknown"), Is.EqualTo("b"));
}
[Test]
public void CopyingXmlElementAttributesWithOverwritingTheExistingOnes() {
var mjcfString = @"<root>
<tag_1 attr_1=""a"" attr_2=""b""/>
<tag_2 attr_1=""c""/>
</root>";
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
var tags = new XmlElement[] {
mjcf.SelectSingleNode("/root/tag_1") as XmlElement,
mjcf.SelectSingleNode("/root/tag_2") as XmlElement
};
MjXmlModifiers.CopyAttributesOverwriteExisting(tags[0], tags[1]);
// Reselect the element to make sure we're testing the actual part of the DOM, and not its copy.
var testedElement = mjcf.SelectSingleNode("/root/tag_2") as XmlElement;
Assert.That(testedElement.GetStringAttribute("attr_1", "unknown"), Is.EqualTo("a"));
Assert.That(testedElement.GetStringAttribute("attr_2", "unknown"), Is.EqualTo("b"));
}
}
[TestFixture]
public class MjXmlModifiersIntegrationEditorTests {
[Test]
public void ApplyingDefaultsAggregatesAttributesFromMultipleDefaults() {
var mjcfString = @"<mujoco>
<default>
<modified attrib=""a""/>
<default class=""class"">
<modified attrib=""b""/>
</default>
</default>
<worldbody>
<modified class=""class""/>
</worldbody>
</mujoco>";
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
var modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
var modifiers = new MjXmlModifiers(mjcf);
modifiers.ApplyModifiersToElement(modifiedElement);
modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
Assert.That(modifiedElement.GetStringAttribute("attrib", string.Empty), Is.EqualTo("b"));
}
[Test]
public void ApplyingDefaultsDoesntOverwriteTheExistingNodeAttribute() {
var mjcfString = @"<mujoco>
<default>
<modified attrib=""b""/>
</default>
<worldbody>
<modified attrib=""a""/>
</worldbody>
</mujoco>";
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
var modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
var modifiers = new MjXmlModifiers(mjcf);
modifiers.ApplyModifiersToElement(modifiedElement);
modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
Assert.That(modifiedElement.GetStringAttribute("attrib", string.Empty), Is.EqualTo("a"));
}
[Test]
public void MissingDefaultDoesntBreakInheritanceHierarchy() {
var mjcfString = @"<mujoco>
<default>
<default class=""a"">
<default class=""b"">
<geom type=""sphere""/>
</default>
</default>
</default>
<worldbody>
<body childclass=""a"">
<body childclass=""b"">
<geom name=""thingy""/>
</body>
</body>
</worldbody>
</mujoco>";
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
var modifiedElement = mjcf.SelectSingleNode("descendant::body/geom") as XmlElement;
var modifiers = new MjXmlModifiers(mjcf);
modifiers.ApplyModifiersToElement(modifiedElement);
Assert.That(modifiedElement.GetStringAttribute("name", string.Empty), Is.EqualTo("thingy"));
Assert.That(modifiedElement.GetStringAttribute("type", string.Empty), Is.EqualTo("sphere"));
}
[Test]
public void PropagatePropertiesAcrossDefaultHierarchy() {
var mjcfString = @"<mujoco>
<default>
<default class=""a"">
<geom attrib1=""from_a""/>
<default class=""b"">
<geom attrib2=""from_b""/>
</default>
</default>
</default>
<worldbody>
<body>
<body>
<body>
<geom class=""b"" name=""thingy""/>
</body>
</body>
</body>
</worldbody>
</mujoco>";
var mjcf = new XmlDocument();
mjcf.LoadXml(mjcfString);
var modifiedElement = mjcf.SelectSingleNode("descendant::body/geom") as XmlElement;
var modifiers = new MjXmlModifiers(mjcf);
modifiers.ApplyModifiersToElement(modifiedElement);
Assert.That(modifiedElement.GetStringAttribute("name", string.Empty), Is.EqualTo("thingy"));
Assert.That(modifiedElement.GetStringAttribute("attrib1", string.Empty), Is.EqualTo("from_a"));
Assert.That(modifiedElement.GetStringAttribute("attrib2", string.Empty), Is.EqualTo("from_b"));
}
}
}
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