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_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 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_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 test_context_activation_and_deactivation(self, mock_glfw):
context = mock.MagicMock()
mock_glfw.create_window = mock.MagicMock(return_value=context)
mock_glfw.get_current_context = mock.MagicMock(return_value=None)
renderer = render.Renderer(MAX_WIDTH, MAX_HEIGHT)
renderer.make_context_current = mock.MagicMock()
with renderer.make_current(2, 2):
mock_glfw.make_context_current.assert_called_once_with(context)
mock_glfw.make_context_current.reset_mock()
mock_glfw.make_context_current.assert_called_once_with(None)
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 _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.gl.free()
# Create the OpenGL context.
render_context = render.Renderer(_MAX_WIDTH, _MAX_HEIGHT)
# Create the MuJoCo context.
mujoco_context = wrapper.MjrContext()
with render_context.make_current(_MAX_WIDTH, _MAX_HEIGHT):
mjlib.mjr_makeContext(self.model.ptr, mujoco_context.ptr, _FONT_SCALE)
mjlib.mjr_setBuffer(
enums.mjtFramebuffer.mjFB_OFFSCREEN, mujoco_context.ptr)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
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 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 _reload_from_data(self, data):
"""Initializes a new or existing `Physics` instance from a `wrapper.MjData`.
Assigns all attributes and sets up rendering contexts and named indexing.
The default constructor as well as the other `reload_from` methods should
delegate to this method.
Args:
data: Instance of `wrapper.MjData`.
"""
self._data = data
# Forcibly clear the previous context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if hasattr(self, '_contexts'):
self._contexts.gl.free_context()
# Set up rendering context. Need to provide at least one rendering api in
# the BUILD target.
render_context = render.Renderer(_MAX_WIDTH, _MAX_HEIGHT)
mujoco_context = wrapper.MjrContext()
with render_context.make_current(_MAX_WIDTH, _MAX_HEIGHT):
mjlib.mjr_makeContext(self.model.ptr, mujoco_context.ptr,
_FONT_SCALE)
mjlib.mjr_setBuffer(enums.mjtFramebuffer.mjFB_OFFSCREEN,
mujoco_context.ptr)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
# Call kinematics update to enable rendering.
self.after_reset()
# Set up named indexing.
axis_indexers = index.make_axis_indexers(self.model)
self._named = NamedIndexStructs(
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
data=index.struct_indexer(self.data, 'mjdata', axis_indexers),
)
def setUp(self):
self.context = mock.MagicMock()
with mock.patch(CONTEXT_PATH):
self.renderer = render.Renderer(MAX_WIDTH, MAX_HEIGHT)
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)