moar

test/Main.purs

@@ -4,10 +4,12 @@ import Prelude
 
 import Effect (Effect)
 import Test.Mujoco.XML.Node.Prop as Test.Mujoco.XML.Node.Prop
+import Test.Mujoco.MJCF as Test.Mujoco.MJCF
 import Test.Spec.Reporter.Console (consoleReporter)
 import Test.Spec.Runner.Node (runSpecAndExitProcess)
 
 main :: Effect Unit
 main =
   runSpecAndExitProcess [consoleReporter] do
+    Test.Mujoco.MJCF.spec
     Test.Mujoco.XML.Node.Prop.spec

test/Mujoco.MJCF.purs

@@ -0,0 +1,26 @@
+module Test.Mujoco.MJCF where
+
+import Prelude
+
+import Control.Monad.Error.Class (try)
+import Data.Either (isLeft)
+import Effect.Aff (Aff)
+import Effect.Class (liftEffect)
+import Mujoco.MJCF as X
+import Mujoco.Wasm (renderSpec)
+import Mujoco.XML.Node (Node)
+import Test.Assert (assertTrue)
+import Test.Spec (Spec, describe, it)
+
+ok :: Node -> Aff Unit
+ok = void <<< renderSpec
+
+fail :: Node -> Aff Unit
+fail = (liftEffect <<< assertTrue <<< isLeft) <=< (try <<< renderSpec)
+
+spec :: Spec Unit
+spec =
+  describe "MJCF" do
+    it "</>" $ fail $ X.empty
+    it "<mujoco>" $ ok $ X.mujoco {} unit
+    it "<worldbody>" $ ok $ X.mujoco {} $ X.worldbody {} unit

test/Mujoco.Wasm.js

@@ -0,0 +1,10 @@
+import load_mujoco from 'mujoco_wasm/mujoco_wasm.js'
+
+/** @typedef {import('mujoco_wasm').MainModule} Mujoco */
+/** @typedef {import('mujoco_wasm').MjSpec} Spec */
+
+/** @type {() => Promise<Mujoco>} */
+export const loadMujoco = () => load_mujoco()
+
+/** @type {(mj: Mujoco) => (xml: String) => () => Spec} */
+export const parseXMLString = m => xml => () => m.parseXMLString(xml)

test/Mujoco.Wasm.purs

@@ -0,0 +1,21 @@
+module Mujoco.Wasm where
+
+import Prelude
+
+import Control.Promise (Promise)
+import Control.Promise as Promise
+import Effect (Effect)
+import Effect.Aff (Aff)
+import Effect.Class (liftEffect)
+import Mujoco.XML.Node as XML
+
+foreign import data Mujoco :: Type
+foreign import data Spec :: Type
+
+foreign import loadMujoco :: Effect (Promise Mujoco)
+foreign import parseXMLString :: Mujoco -> String -> Effect Spec
+
+renderSpec :: XML.Node -> Aff Spec
+renderSpec node = do
+  mj <- Promise.toAffE loadMujoco
+  liftEffect $ parseXMLString mj $ XML.render node