init version

tests/test_ros2_instance.py

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+import array
+import os
+import sys
+
+import pytest
+
+from msgcenterpy import TypeConverter
+
+# Add project path
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
+
+# ROS2 dependency check
+try:
+    from geometry_msgs.msg import Point, Pose
+    from std_msgs.msg import Float64MultiArray, String
+
+    # Only import ROS2MessageInstance when ROS2 message packages are available
+    from msgcenterpy.instances.ros2_instance import ROS2MessageInstance
+
+    HAS_ROS2 = True
+except ImportError:
+    HAS_ROS2 = False
+
+
+from msgcenterpy.core.types import MessageType
+
+
+class TestROS2MessageInstance:
+    """ROS2MessageInstance test class"""
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_basic_creation_string_message(self):
+        """Test basic String message creation"""
+        # Create String message
+        string_msg = String()
+        string_msg.data = "Hello ROS2"
+
+        # Create ROS2MessageInstance
+        ros2_inst = ROS2MessageInstance(string_msg)
+
+        assert ros2_inst.message_type == MessageType.ROS2
+        assert ros2_inst.inner_data is string_msg
+        assert ros2_inst.ros_msg_cls == String
+        assert ros2_inst.ros_msg_cls_namespace == "std_msgs/msg/String"
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_basic_creation_float_array(self):
+        """Test Float64MultiArray message creation"""
+        # Create Float64MultiArray message
+        array_msg = Float64MultiArray()
+        array_msg.data = [1.1, 2.2, 3.3, 4.4, 5.5]
+
+        # Create ROS2MessageInstance
+        ros2_inst = ROS2MessageInstance(array_msg)
+
+        assert ros2_inst.message_type == MessageType.ROS2
+        assert ros2_inst.inner_data is array_msg
+        assert ros2_inst.ros_msg_cls == Float64MultiArray
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_simple_field_assignment(self):
+        """Test simple field assignment - based on __main__ test1"""
+        # Create String message
+        string_msg = String()
+        ros2_inst = ROS2MessageInstance(string_msg)
+
+        # Initial state check
+        assert string_msg.data == ""
+
+        # Test field assignment
+        ros2_inst.data = "test_value"  # Assignment through field accessor
+        assert string_msg.data == "test_value"
+        assert ros2_inst.inner_data.data == "test_value"
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_nested_field_assignment(self):
+        """测试嵌套字段赋值 - 基于 __main__ 测试2,3"""
+        # Create Pose message
+        pose_msg = Pose()
+        ros2_inst = ROS2MessageInstance(pose_msg)
+
+        # 测试嵌套字段赋值
+        ros2_inst.position.x = 1.5
+        ros2_inst.position.y = 2.5
+        ros2_inst.position.z = 3.5
+
+        assert pose_msg.position.x == 1.5
+        assert pose_msg.position.y == 2.5
+        assert pose_msg.position.z == 3.5
+
+        # 测试整个对象赋值
+        new_position = Point(x=10.0, y=20.0, z=30.0)
+        ros2_inst.position = new_position
+
+        assert pose_msg.position.x == 10.0
+        assert pose_msg.position.y == 20.0
+        assert pose_msg.position.z == 30.0
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_export_to_envelope(self):
+        """测试导出信封功能 - 基于 __main__ 测试6"""
+        # Create and setup String message
+        string_msg = String()
+        string_msg.data = "test_envelope_data"
+        ros2_inst = ROS2MessageInstance(string_msg)
+
+        # 导出信封
+        envelope = ros2_inst.export_to_envelope()
+
+        # 验证信封结构
+        assert "content" in envelope
+        assert "metadata" in envelope
+        assert envelope["content"]["data"] == "test_envelope_data"
+
+        # 验证元数据
+        metadata = envelope["metadata"]
+        assert metadata["current_format"] == "ros2"
+        assert "properties" in metadata
+
+        properties = metadata["properties"]
+        assert "ros_msg_cls_namespace" in properties
+        assert "ros_msg_cls_path" in properties
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_get_python_dict(self):
+        """测试获取 Python 字典"""
+        # Create Float64MultiArray message
+        array_msg = Float64MultiArray()
+        array_msg.data = [1.0, 2.0, 3.0]
+        ros2_inst = ROS2MessageInstance(array_msg)
+
+        # 获取 Python 字典
+        python_dict = ros2_inst.get_python_dict()
+
+        assert isinstance(python_dict, dict)
+        assert "data" in python_dict
+        assert python_dict["data"] == [1.0, 2.0, 3.0]
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_set_python_dict(self):
+        """测试设置 Python 字典"""
+        # Create String message
+        string_msg = String()
+        ros2_inst = ROS2MessageInstance(string_msg)
+
+        # 设置字典数据
+        new_data = {"data": "updated_value"}
+        result = ros2_inst.set_python_dict(new_data)
+
+        assert result is True
+        assert string_msg.data == "updated_value"
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_field_type_info_extraction(self):
+        """测试字段类型信息提取"""
+        # Create Float64MultiArray message
+        array_msg = Float64MultiArray()
+        array_msg.data = [1.0, 2.0, 3.0]
+        ros2_inst = ROS2MessageInstance(array_msg)
+
+        # 获取字段类型信息
+        type_info = ros2_inst.fields.get_sub_type_info("data")
+
+        assert type_info is not None
+        assert type_info.field_name == "data"
+        assert type_info.is_array is True
+        assert type_info.python_type == array.array
+        assert type_info.python_value_from_standard_type == [1.0, 2.0, 3.0]
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_obtain_ros_cls_from_string(self):
+        """测试从字符串获取 ROS 类"""
+        # 测试 namespace 格式
+        ros_cls_ns = ROS2MessageInstance.obtain_ros_cls_from_str("std_msgs/msg/String")
+        assert ros_cls_ns == String
+
+        # 测试模块路径格式
+        ros_cls_path = ROS2MessageInstance.obtain_ros_cls_from_str("std_msgs.msg._string.String")
+        assert ros_cls_path == String
+
+        # 测试直接传入类
+        ros_cls_direct = ROS2MessageInstance.obtain_ros_cls_from_str(String)
+        assert ros_cls_direct == String
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_ros_msg_cls_properties(self):
+        """测试 ROS 消息类属性"""
+        string_msg = String()
+        ros2_inst = ROS2MessageInstance(string_msg)
+
+        # 测试类路径属性
+        cls_path = ros2_inst.ros_msg_cls_path
+        assert "std_msgs.msg" in cls_path
+        assert "String" in cls_path
+
+        # 测试命名空间属性
+        namespace = ros2_inst.ros_msg_cls_namespace
+        assert namespace == "std_msgs/msg/String"
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_import_from_envelope(self):
+        """测试从信封导入"""
+        # Create original message
+        original_msg = String()
+        original_msg.data = "envelope_test"
+        original_inst = ROS2MessageInstance(original_msg)
+
+        # 导出信封
+        envelope = original_inst.export_to_envelope()
+
+        # 从信封导入新实例
+        new_inst = ROS2MessageInstance.import_from_envelope(envelope)
+
+        assert isinstance(new_inst, ROS2MessageInstance)
+        assert new_inst.inner_data.data == "envelope_test"
+        assert new_inst.ros_msg_cls == String
+
+
+class TestROS2MessageInstanceJSONSchema:
+    """ROS2MessageInstance JSON Schema 生成测试"""
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_get_json_schema_string_message(self):
+        """测试 String 消息的 JSON Schema 生成"""
+        string_msg = String()
+        string_msg.data = "test_schema"
+        ros2_inst = ROS2MessageInstance(string_msg)
+
+        # 生成 JSON Schema
+        schema = ros2_inst.get_json_schema()
+
+        assert schema["type"] == "object"
+        assert "properties" in schema
+        assert "data" in schema["properties"]
+        assert schema["properties"]["data"]["type"] == "string"
+        assert schema["title"] == "ROS2MessageInstance Schema"
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_get_json_schema_float_array(self):
+        """测试 Float64MultiArray 的 JSON Schema 生成"""
+        array_msg = Float64MultiArray()
+        array_msg.data = [1.1, 2.2, 3.3]
+        ros2_inst = ROS2MessageInstance(array_msg)
+
+        # 生成 JSON Schema
+        schema = ros2_inst.get_json_schema()
+
+        assert schema["type"] == "object"
+        assert "properties" in schema
+        assert "data" in schema["properties"]
+
+        # 检查数组类型
+        data_prop = schema["properties"]["data"]
+        assert data_prop["type"] == "array"
+        assert "items" in data_prop
+        assert data_prop["items"]["type"] == "number"
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_get_json_schema_pose_message(self):
+        """测试复杂 Pose 消息的 JSON Schema 生成"""
+        pose_msg = Pose()
+        pose_msg.position.x = 1.0
+        pose_msg.position.y = 2.0
+        pose_msg.position.z = 3.0
+        ros2_inst = ROS2MessageInstance(pose_msg)
+
+        # 生成 JSON Schema
+        schema = ros2_inst.get_json_schema()
+
+        assert schema["type"] == "object"
+        assert "properties" in schema
+
+        # 检查嵌套对象
+        properties = schema["properties"]
+        assert "position" in properties
+        assert "orientation" in properties
+
+        # 验证对象类型
+        position_prop = properties["position"]
+        assert position_prop["type"] == "object"
+
+    @pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
+    def test_json_schema_constraint_extraction(self):
+        """测试约束条件提取"""
+        array_msg = Float64MultiArray()
+        array_msg.data = [1.0, 2.0, 3.0, 4.0, 5.0]
+        ros2_inst = ROS2MessageInstance(array_msg)
+
+        # 获取字段类型信息检查约束
+        type_info = ros2_inst.fields.get_sub_type_info("data")
+
+        assert type_info is not None
+        assert type_info.is_array is True
+
+        # 生成 Schema 并检查约束是否转换
+        schema = ros2_inst.get_json_schema()
+        data_prop = schema["properties"]["data"]
+        assert data_prop["type"] == "array"
+
+
+# 运行测试的便捷函数
+def run_ros2_tests():
+    """运行 ROS2 相关测试"""
+    if not HAS_ROS2:
+        print("❌ ROS2 dependencies not available, skipping tests")
+        return False
+
+    import subprocess
+
+    result = subprocess.run(
+        ["python", "-m", "pytest", "tests/test_ros2_instance.py", "-v", "--tb=short"],
+        capture_output=True,
+        text=True,
+    )
+
+    print(result.stdout)
+    if result.stderr:
+        print("STDERR:", result.stderr)
+
+    return result.returncode == 0
+
+
+if __name__ == "__main__":
+    # 直接运行测试
+    run_ros2_tests()