def test_init(self):
mock_context = mock.MagicMock()
with mock.patch(CONTEXT_PATH) as mock_osmesa:
mock_osmesa.OSMesaCreateContextExt.return_value = mock_context
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
self.assertIs(renderer._context, mock_context)
renderer.free()
def test_freeing(self):
mock_context = mock.MagicMock()
with mock.patch(CONTEXT_PATH) as mock_osmesa:
mock_osmesa.OSMesaCreateContextExt.return_value = mock_context
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
renderer.free()
mock_osmesa.OSMesaDestroyContext.assert_called_once_with(mock_context)
self.assertIsNone(renderer._context)
def test_freeing(self):
mock_context = mock.MagicMock()
with mock.patch(CONTEXT_PATH) as mock_glfw:
mock_glfw.create_window.return_value = mock_context
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
renderer.free()
mock_glfw.destroy_window.assert_called_once_with(mock_context)
self.assertIsNone(renderer._context)
def test_make_current(self):
mock_context = mock.MagicMock()
with mock.patch(CONTEXT_PATH) as mock_glfw:
mock_glfw.create_window.return_value = mock_context
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
with renderer.make_current():
pass
mock_glfw.make_context_current.assert_called_once_with(mock_context)
def _make_rendering_contexts(self):
"""Creates the OpenGL and MuJoCo rendering contexts."""
# Get the offscreen framebuffer size, as specified in the model XML.
max_width = self.model.vis.global_.offwidth
max_height = self.model.vis.global_.offheight
# Create the OpenGL context.
render_context = _render.Renderer(max_width=max_width,
max_height=max_height)
# Create the MuJoCo context.
mujoco_context = wrapper.MjrContext(self.model, render_context)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
def load_model(self, physics):
"""Loads the given Physics object to render."""
self._viewer.deinitialize()
self._draw_surface = dm_render.Renderer(
max_width=_MAX_RENDERBUFFER_SIZE,
max_height=_MAX_RENDERBUFFER_SIZE)
self._renderer = dm_viewer.renderer.OffScreenRenderer(
physics.model, self._draw_surface)
self._viewer.initialize(physics, self._renderer, touchpad=False)
def test_make_current(self):
mock_context = mock.MagicMock()
mock_buffer = mock.MagicMock()
with mock.patch(CONTEXT_PATH) as mock_osmesa:
with mock.patch(GL_ARRAYS_PATH) as mock_glarrays:
mock_osmesa.OSMesaCreateContextExt.return_value = mock_context
mock_glarrays.GLfloatArray.zeros.return_value = mock_buffer
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
with renderer.make_current():
pass
mock_osmesa.OSMesaMakeCurrent.assert_called_once_with(
mock_context, mock_buffer, GL.GL_FLOAT, MAX_WIDTH, MAX_HEIGHT)
renderer.free()
def _make_rendering_contexts(self):
"""Creates the OpenGL and MuJoCo rendering contexts."""
# Forcibly clear the previous GL context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if self._contexts:
self._contexts.mujoco.free()
self._contexts.gl.free()
# Get the offscreen framebuffer size, as specified in the model XML.
max_width = self.model.vis.global_.offwidth
max_height = self.model.vis.global_.offheight
# Create the OpenGL context.
render_context = _render.Renderer(max_width=max_width,
max_height=max_height)
# Create the MuJoCo context.
mujoco_context = wrapper.MjrContext(self.model, render_context)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
def testFreeMjrContext(self):
for _ in range(5):
renderer = _render.Renderer(640, 480)
with mock.patch.object(
core.mjlib, "mjr_freeContext",
wraps=mjlib.mjr_freeContext) as mock_destructor:
mjr_context = core.MjrContext(self.model, renderer)
expected_address = ctypes.addressof(mjr_context.ptr.contents)
mjr_context.free()
self.assertIsNone(mjr_context.ptr)
mock_destructor.assert_called_once()
pointer = mock_destructor.call_args[0][0]
actual_address = ctypes.addressof(pointer.contents)
self.assertEqual(expected_address, actual_address)
# Explicit freeing should not break any automatic GC triggered later.
del mjr_context
renderer.free()
del renderer
gc.collect()
def _perform_deferred_reload(self, params):
"""Performs the deferred part of initialization related to Physics reload.
Args:
params: Deferred reload parameters, an instance of ReloadParams.
"""
if self._render_surface:
self._render_surface.free()
if self._renderer:
self._renderer.release()
self._render_surface = _render.Renderer(
max_width=_MAX_FRONTBUFFER_SIZE, max_height=_MAX_FRONTBUFFER_SIZE)
self._renderer = renderer.OffScreenRenderer(
self._environment.physics.model, self._render_surface)
self._renderer.components += self._viewer_layout
self._viewer.initialize(self._environment.physics,
self._renderer,
touchpad=False)
self._status.set_camera(self._viewer.camera)
if params.zoom_to_scene:
self._viewer.zoom_to_scene()
def test_repeatedly_create_and_destroy_context(self):
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
wrapper.MjrContext(wrapper.MjModel.from_xml_string('<mujoco/>'),
renderer)
def test_init(self):
mock_context = mock.MagicMock()
with mock.patch(CONTEXT_PATH) as mock_glfw:
mock_glfw.create_window.return_value = mock_context
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
self.assertIs(renderer._context, mock_context)
