90 lines
2.5 KiB
Python
90 lines
2.5 KiB
Python
|
import sys
|
||
|
|
from dataclasses import dataclass
|
||
|
|
from pathlib import Path
|
||
|
|
from typing import Generator
|
||
|
|
|
||
|
|
import pytest
|
||
|
|
|
||
|
|
from lerobot.common.envs.configs import EnvConfig
|
||
|
|
from lerobot.configs.parser import PluginLoadError, load_plugin, parse_plugin_args, wrap
|
||
|
|
|
||
|
|
|
||
|
|
def create_plugin_code(*, base_class: str = "EnvConfig", plugin_name: str = "test_env") -> str:
|
||
|
|
"""Creates a dummy plugin module that implements its own EnvConfig subclass."""
|
||
|
|
return f"""
|
||
|
|
from dataclasses import dataclass
|
||
|
|
from lerobot.common.envs.configs import {base_class}
|
||
|
|
|
||
|
|
@{base_class}.register_subclass("{plugin_name}")
|
||
|
|
@dataclass
|
||
|
|
class TestPluginConfig:
|
||
|
|
value: int = 42
|
||
|
|
"""
|
||
|
|
|
||
|
|
|
||
|
|
@pytest.fixture
|
||
|
|
def plugin_dir(tmp_path: Path) -> Generator[Path, None, None]:
|
||
|
|
"""Creates a temporary plugin package structure."""
|
||
|
|
plugin_pkg = tmp_path / "test_plugin"
|
||
|
|
plugin_pkg.mkdir()
|
||
|
|
(plugin_pkg / "__init__.py").touch()
|
||
|
|
|
||
|
|
with open(plugin_pkg / "my_plugin.py", "w") as f:
|
||
|
|
f.write(create_plugin_code())
|
||
|
|
|
||
|
|
# Add tmp_path to Python path so we can import from it
|
||
|
|
sys.path.insert(0, str(tmp_path))
|
||
|
|
yield plugin_pkg
|
||
|
|
sys.path.pop(0)
|
||
|
|
|
||
|
|
|
||
|
|
def test_parse_plugin_args():
|
||
|
|
cli_args = [
|
||
|
|
"--env.type=test",
|
||
|
|
"--model.discover_packages_path=some.package",
|
||
|
|
"--env.discover_packages_path=other.package",
|
||
|
|
]
|
||
|
|
plugin_args = parse_plugin_args("discover_packages_path", cli_args)
|
||
|
|
assert plugin_args == {
|
||
|
|
"model.discover_packages_path": "some.package",
|
||
|
|
"env.discover_packages_path": "other.package",
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
def test_load_plugin_success(plugin_dir: Path):
|
||
|
|
# Import should work and register the plugin with the real EnvConfig
|
||
|
|
load_plugin("test_plugin")
|
||
|
|
|
||
|
|
assert "test_env" in EnvConfig.get_known_choices()
|
||
|
|
plugin_cls = EnvConfig.get_choice_class("test_env")
|
||
|
|
plugin_instance = plugin_cls()
|
||
|
|
assert plugin_instance.value == 42
|
||
|
|
|
||
|
|
|
||
|
|
def test_load_plugin_failure():
|
||
|
|
with pytest.raises(PluginLoadError) as exc_info:
|
||
|
|
load_plugin("nonexistent_plugin")
|
||
|
|
assert "Failed to load plugin 'nonexistent_plugin'" in str(exc_info.value)
|
||
|
|
|
||
|
|
|
||
|
|
def test_wrap_with_plugin(plugin_dir: Path):
|
||
|
|
@dataclass
|
||
|
|
class Config:
|
||
|
|
env: EnvConfig
|
||
|
|
|
||
|
|
@wrap()
|
||
|
|
def dummy_func(cfg: Config):
|
||
|
|
return cfg
|
||
|
|
|
||
|
|
# Test loading plugin via CLI args
|
||
|
|
sys.argv = [
|
||
|
|
"dummy_script.py",
|
||
|
|
"--env.discover_packages_path=test_plugin",
|
||
|
|
"--env.type=test_env",
|
||
|
|
]
|
||
|
|
|
||
|
|
cfg = dummy_func()
|
||
|
|
assert isinstance(cfg, Config)
|
||
|
|
assert isinstance(cfg.env, EnvConfig.get_choice_class("test_env"))
|
||
|
|
assert cfg.env.value == 42
|