def testNestedCallbackContexts(self):
last_called = [None]
outer_called = "outer called"
inner_called = "inner called"
def outer(unused_model, unused_data):
last_called[0] = outer_called
def inner(unused_model, unused_data):
last_called[0] = inner_called
with core.callback_context("mjcb_passive", outer):
# This should execute `outer` a few times.
mjlib.mj_step(self.model.ptr, self.data.ptr)
self.assertEqual(last_called[0], outer_called)
with core.callback_context("mjcb_passive", inner):
# This should execute `inner` a few times.
mjlib.mj_step(self.model.ptr, self.data.ptr)
self.assertEqual(last_called[0], inner_called)
# When we exit the inner context, the `mjcb_passive` callback should be
# reset to `outer`.
mjlib.mj_step(self.model.ptr, self.data.ptr)
self.assertEqual(last_called[0], outer_called)
# When we exit the outer context, the `mjcb_passive` callback should be
# reset to None, and stepping should not affect `last_called`.
last_called[0] = None
mjlib.mj_step(self.model.ptr, self.data.ptr)
self.assertIsNone(last_called[0])
def testSingleCallbackContext(self):
callback_was_called = [False]
def callback(unused_model, unused_data):
callback_was_called[0] = True
mjlib.mj_step(self.model.ptr, self.data.ptr)
self.assertFalse(callback_was_called[0])
class DummyError(RuntimeError):
pass
try:
with core.callback_context("mjcb_passive", callback):
# Stepping invokes the `mjcb_passive` callback.
mjlib.mj_step(self.model.ptr, self.data.ptr)
self.assertTrue(callback_was_called[0])
# Exceptions should not prevent `mjcb_passive` from being reset.
raise DummyError("Simulated exception.")
except DummyError:
pass
# `mjcb_passive` should have been reset to None.
callback_was_called[0] = False
mjlib.mj_step(self.model.ptr, self.data.ptr)
self.assertFalse(callback_was_called[0])
