Tweak custom message listener script and test

pyrcareworld/pyrcareworld/demo/examples/example_custom_message.py

@@ -19,51 +19,59 @@
 import os
 import sys
 import pyrcareworld.attributes as attr
-
-sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
-
+import argparse
 from pyrcareworld.demo import executable_path
 from pyrcareworld.envs.base_env import RCareWorld
 
-# Initialize the environment with the specified scene file
-player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
 
-# Initialize the environment with a custom asset
-env = RCareWorld(assets=["CustomAttr"], executable_file=player_path)
+def _main(dev):
+    sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+
+    # Initialize the environment with the specified scene file
+    player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
+
+    # Initialize the environment with a custom asset
+    env = RCareWorld(executable_file="@editor" if dev else player_path, assets=["CustomAttr"])
+
+    # Create an instance of a custom attribute and send a custom message
+    custom = env.InstanceObject(name="CustomAttr", id=1, attr_type=attr.CustomAttr)
+    custom.CustomMessage(message="this is instance channel custom message")
 
-# Create an instance of a custom attribute and send a custom message
-custom = env.InstanceObject(name="CustomAttr", id=123456, attr_type=attr.CustomAttr)
-custom.CustomMessage(message="this is instance channel custom message")
+    # Perform a simulation step to process the custom message
+    env.step()
 
-# Perform a simulation step to process the custom message
-env.step()
+    # Print the custom message data
+    print(custom.data["custom_message"])
 
-# Print the custom message data
-print(custom.data["custom_message"])
+    # Callback function to handle dynamic object messages
+    def dynamic_object_callback(args):
+        for i, arg in enumerate(args):
+            print(f"Arg {i}: {arg}")
 
-# Callback function to handle dynamic object messages
-def dynamic_object_callback(args):
-    for i, arg in enumerate(args):
-        print(f"Arg {i}: {arg}")
+    # Add a listener for dynamic object messages
+    env.AddListenerObject("DynamicObject", dynamic_object_callback)
 
-# Add a listener for dynamic object messages
-env.AddListenerObject("DynamicObject", dynamic_object_callback)
+    # Send a dynamic object message with various data types
+    env.SendObject(
+        "DynamicObject",
+        "string:", "this is dynamic object",
+        "int:", 1,
+        "bool:", True,
+        "float:", 4849.6564,
+        "list:", [616445.085, 9489984.0, 65419596.0, 9849849.0],
+        "dict:", {"1": 1, "2": 2, "3": 3},
+        "tuple:", ("1", 1, 0.562)
+    )
 
-# Send a dynamic object message with various data types
-env.SendObject(
-    "DynamicObject",
-    "string:", "this is dynamic object",
-    "int:", 123456,
-    "bool:", True,
-    "float:", 4849.6564,
-    "list:", [616445.085, 9489984.0, 65419596.0, 9849849.0],
-    "dict:", {"1": 1, "2": 2, "3": 3},
-    "tuple:", ("1", 1, 0.562)
-)
+    # Perform a simulation step to process the dynamic object message
+    env.step()
 
-# Perform a simulation step to process the dynamic object message
-env.step()
+    # Close the environment
+    env.Pend()
+    env.close()
 
-# Close the environment
-env.Pend()
-env.close()
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Run RCareWorld bathing environment simulation for sponge forces.')
+    parser.add_argument('-d', '--dev', action='store_true', help='Run in developer mode')
+    args = parser.parse_args()
+    _main(args.dev)

tests/test_base_env.py

@@ -0,0 +1,106 @@
+import pytest
+from pyrcareworld.envs.base_env import RCareWorld
+import pyrcareworld.attributes as attr
+from pyrcareworld.envs.bathing_env import BathingEnv
+from pyrcareworld.envs.dressing_env import DressingEnv
+
+import os
+import sys
+
+def test_save_and_load():
+  player_path = "pyrcareworld/pyrcareworld/demo/executable/Player/Player.x86_64"
+
+  env = RCareWorld(assets=["Collider_Box", "Rigidbody_Sphere"], executable_file=player_path, log_level=1, graphics=False)
+
+  box1 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=1)
+  box1.SetTransform(position=[-0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box2 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=2)
+  box2.SetTransform(position=[0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box3 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=3)
+  box3.SetTransform(position=[0, 0.5, 0.5], scale=[1, 1, 0.1])
+  box4 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=4)
+  box4.SetTransform(position=[0, 0.5, -0.5], scale=[1, 1, 0.1])
+  sphere = env.InstanceObject(name="Rigidbody_Sphere", attr_type=attr.RigidbodyAttr, id=5)
+  sphere.SetTransform(position=[0, 0.5, 0], scale=[0.5, 0.5, 0.5])
+
+  env.SaveScene("test_scene.json")
+
+  # Give some time to save...
+  for _ in range(10):
+    env.step()
+
+  assert env.GetAttr(1).data["name"] == "Collider_Box"
+  assert env.GetAttr(2).data["name"] == "Collider_Box"
+  assert env.GetAttr(3).data["name"] == "Collider_Box"
+  assert env.GetAttr(4).data["name"] == "Collider_Box"
+  assert env.GetAttr(5).data["name"] == "Rigidbody_Sphere"
+
+  assert os.path.exists("pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/SceneData/test_scene.json")
+
+  env.ClearScene()
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(1)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(2)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(3)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(4)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(5)
+
+  env.LoadSceneAsync("test_scene.json")
+
+  # Give some time to load...
+  for _ in range(10):
+    env.step()
+
+  assert env.GetAttr(1).data["name"] == "Collider_Box"
+  assert env.GetAttr(2).data["name"] == "Collider_Box"
+  assert env.GetAttr(3).data["name"] == "Collider_Box"
+  assert env.GetAttr(4).data["name"] == "Collider_Box"
+  assert env.GetAttr(5).data["name"] == "Rigidbody_Sphere"
+
+  env.close()
+
+def test_object_listener():
+  env = RCareWorld(assets=["Collider_Box", "Rigidbody_Sphere"], executable_file="pyrcareworld/pyrcareworld/demo/executable/Player/Player.x86_64")
+
+  called = False
+
+  def object_listener(args):
+    called = True
+    dict = {}
+    for i, arg in enumerate(args):
+      dict[i] = arg
+
+    assert dict[0] == "string:"
+    assert dict[1] == "This is dynamic object"
+    assert dict[2] == "int:"
+    assert dict[3] == "123"
+    assert dict[4] == "float:"
+    assert dict[5] == "456.0"
+    assert dict[6] == "bool:"
+    assert dict[7] == "False"
+    assert dict[8] == "list:"
+    assert dict[9] == "[7.889999866485596, 1.1100000143051147]"
+    assert dict[10] == "dict:"
+    assert dict[11] == "{'a': 1, 'b': 2}"
+    assert dict[12] == "tuple:"
+    assert dict[13] == "('a', 1, 0.5619999766349792)"
+
+  env.AddListenerObject("Collider_Box", object_listener)
+
+  # Get data back...
+  env.step(10)
+
+  assert called
+
+  env.close()
+
+# TODO: Test more functions of the environment