mirror of
https://github.com/ZGCA-Forge/MsgCenterPy.git
synced 2025-12-14 13:04:34 +00:00
326 lines
11 KiB
Python
326 lines
11 KiB
Python
import array
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import os
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import sys
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import pytest
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from msgcenterpy import TypeConverter
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# Add project path
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sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
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# ROS2 dependency check
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try:
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from geometry_msgs.msg import Point, Pose
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from std_msgs.msg import Float64MultiArray, String
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# Only import ROS2MessageInstance when ROS2 message packages are available
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from msgcenterpy.instances.ros2_instance import ROS2MessageInstance
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HAS_ROS2 = True
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except ImportError:
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HAS_ROS2 = False
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from msgcenterpy.core.types import MessageType
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class TestROS2MessageInstance:
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"""ROS2MessageInstance test class"""
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_basic_creation_string_message(self):
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"""Test basic String message creation"""
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# Create String message
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string_msg = String()
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string_msg.data = "Hello ROS2"
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# Create ROS2MessageInstance
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ros2_inst = ROS2MessageInstance(string_msg)
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assert ros2_inst.message_type == MessageType.ROS2
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assert ros2_inst.inner_data is string_msg
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assert ros2_inst.ros_msg_cls == String
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assert ros2_inst.ros_msg_cls_namespace == "std_msgs/msg/String"
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_basic_creation_float_array(self):
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"""Test Float64MultiArray message creation"""
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# Create Float64MultiArray message
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array_msg = Float64MultiArray()
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array_msg.data = [1.1, 2.2, 3.3, 4.4, 5.5]
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# Create ROS2MessageInstance
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ros2_inst = ROS2MessageInstance(array_msg)
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assert ros2_inst.message_type == MessageType.ROS2
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assert ros2_inst.inner_data is array_msg
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assert ros2_inst.ros_msg_cls == Float64MultiArray
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_simple_field_assignment(self):
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"""Test simple field assignment - based on __main__ test1"""
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# Create String message
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string_msg = String()
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ros2_inst = ROS2MessageInstance(string_msg)
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# Initial state check
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assert string_msg.data == ""
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# Test field assignment
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ros2_inst.data = "test_value" # Assignment through field accessor
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assert string_msg.data == "test_value"
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assert ros2_inst.inner_data.data == "test_value"
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_nested_field_assignment(self):
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"""测试嵌套字段赋值 - 基于 __main__ 测试2,3"""
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# Create Pose message
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pose_msg = Pose()
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ros2_inst = ROS2MessageInstance(pose_msg)
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# 测试嵌套字段赋值
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ros2_inst.position.x = 1.5
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ros2_inst.position.y = 2.5
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ros2_inst.position.z = 3.5
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assert pose_msg.position.x == 1.5
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assert pose_msg.position.y == 2.5
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assert pose_msg.position.z == 3.5
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# 测试整个对象赋值
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new_position = Point(x=10.0, y=20.0, z=30.0)
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ros2_inst.position = new_position
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assert pose_msg.position.x == 10.0
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assert pose_msg.position.y == 20.0
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assert pose_msg.position.z == 30.0
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_export_to_envelope(self):
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"""测试导出信封功能 - 基于 __main__ 测试6"""
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# Create and setup String message
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string_msg = String()
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string_msg.data = "test_envelope_data"
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ros2_inst = ROS2MessageInstance(string_msg)
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# 导出信封
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envelope = ros2_inst.export_to_envelope()
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# 验证信封结构
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assert "content" in envelope
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assert "metadata" in envelope
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assert envelope["content"]["data"] == "test_envelope_data"
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# 验证元数据
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metadata = envelope["metadata"]
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assert metadata["current_format"] == "ros2"
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assert "properties" in metadata
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properties = metadata["properties"]
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assert "ros_msg_cls_namespace" in properties
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assert "ros_msg_cls_path" in properties
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_get_python_dict(self):
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"""测试获取 Python 字典"""
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# Create Float64MultiArray message
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array_msg = Float64MultiArray()
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array_msg.data = [1.0, 2.0, 3.0]
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ros2_inst = ROS2MessageInstance(array_msg)
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# 获取 Python 字典
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python_dict = ros2_inst.get_python_dict()
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assert isinstance(python_dict, dict)
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assert "data" in python_dict
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assert python_dict["data"] == [1.0, 2.0, 3.0]
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_set_python_dict(self):
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"""测试设置 Python 字典"""
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# Create String message
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string_msg = String()
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ros2_inst = ROS2MessageInstance(string_msg)
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# 设置字典数据
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new_data = {"data": "updated_value"}
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result = ros2_inst.set_python_dict(new_data)
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assert result is True
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assert string_msg.data == "updated_value"
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_field_type_info_extraction(self):
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"""测试字段类型信息提取"""
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# Create Float64MultiArray message
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array_msg = Float64MultiArray()
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array_msg.data = [1.0, 2.0, 3.0]
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ros2_inst = ROS2MessageInstance(array_msg)
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# 获取字段类型信息
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type_info = ros2_inst.fields.get_sub_type_info("data")
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assert type_info is not None
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assert type_info.field_name == "data"
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assert type_info.is_array is True
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assert type_info.python_type == array.array
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assert type_info.python_value_from_standard_type == [1.0, 2.0, 3.0]
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_obtain_ros_cls_from_string(self):
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"""测试从字符串获取 ROS 类"""
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# 测试 namespace 格式
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ros_cls_ns = ROS2MessageInstance.obtain_ros_cls_from_str("std_msgs/msg/String")
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assert ros_cls_ns == String
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# 测试模块路径格式
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ros_cls_path = ROS2MessageInstance.obtain_ros_cls_from_str("std_msgs.msg._string.String")
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assert ros_cls_path == String
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# 测试直接传入类
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ros_cls_direct = ROS2MessageInstance.obtain_ros_cls_from_str(String)
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assert ros_cls_direct == String
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_ros_msg_cls_properties(self):
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"""测试 ROS 消息类属性"""
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string_msg = String()
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ros2_inst = ROS2MessageInstance(string_msg)
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# 测试类路径属性
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cls_path = ros2_inst.ros_msg_cls_path
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assert "std_msgs.msg" in cls_path
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assert "String" in cls_path
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# 测试命名空间属性
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namespace = ros2_inst.ros_msg_cls_namespace
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assert namespace == "std_msgs/msg/String"
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_import_from_envelope(self):
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"""测试从信封导入"""
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# Create original message
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original_msg = String()
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original_msg.data = "envelope_test"
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original_inst = ROS2MessageInstance(original_msg)
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# 导出信封
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envelope = original_inst.export_to_envelope()
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# 从信封导入新实例
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new_inst = ROS2MessageInstance.import_from_envelope(envelope)
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assert isinstance(new_inst, ROS2MessageInstance)
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assert new_inst.inner_data.data == "envelope_test"
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assert new_inst.ros_msg_cls == String
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class TestROS2MessageInstanceJSONSchema:
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"""ROS2MessageInstance JSON Schema 生成测试"""
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_get_json_schema_string_message(self):
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"""测试 String 消息的 JSON Schema 生成"""
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string_msg = String()
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string_msg.data = "test_schema"
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ros2_inst = ROS2MessageInstance(string_msg)
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# 生成 JSON Schema
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schema = ros2_inst.get_json_schema()
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assert schema["type"] == "object"
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assert "properties" in schema
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assert "data" in schema["properties"]
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assert schema["properties"]["data"]["type"] == "string"
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assert schema["title"] == "ROS2MessageInstance Schema"
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_get_json_schema_float_array(self):
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"""测试 Float64MultiArray 的 JSON Schema 生成"""
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array_msg = Float64MultiArray()
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array_msg.data = [1.1, 2.2, 3.3]
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ros2_inst = ROS2MessageInstance(array_msg)
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# 生成 JSON Schema
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schema = ros2_inst.get_json_schema()
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assert schema["type"] == "object"
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assert "properties" in schema
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assert "data" in schema["properties"]
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# 检查数组类型
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data_prop = schema["properties"]["data"]
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assert data_prop["type"] == "array"
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assert "items" in data_prop
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assert data_prop["items"]["type"] == "number"
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_get_json_schema_pose_message(self):
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"""测试复杂 Pose 消息的 JSON Schema 生成"""
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pose_msg = Pose()
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pose_msg.position.x = 1.0
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pose_msg.position.y = 2.0
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pose_msg.position.z = 3.0
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ros2_inst = ROS2MessageInstance(pose_msg)
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# 生成 JSON Schema
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schema = ros2_inst.get_json_schema()
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assert schema["type"] == "object"
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assert "properties" in schema
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# 检查嵌套对象
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properties = schema["properties"]
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assert "position" in properties
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assert "orientation" in properties
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# 验证对象类型
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position_prop = properties["position"]
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assert position_prop["type"] == "object"
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@pytest.mark.skipif(not HAS_ROS2, reason="ROS2 dependencies not available")
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def test_json_schema_constraint_extraction(self):
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"""测试约束条件提取"""
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array_msg = Float64MultiArray()
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array_msg.data = [1.0, 2.0, 3.0, 4.0, 5.0]
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ros2_inst = ROS2MessageInstance(array_msg)
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# 获取字段类型信息检查约束
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type_info = ros2_inst.fields.get_sub_type_info("data")
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assert type_info is not None
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assert type_info.is_array is True
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# 生成 Schema 并检查约束是否转换
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schema = ros2_inst.get_json_schema()
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data_prop = schema["properties"]["data"]
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assert data_prop["type"] == "array"
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# 运行测试的便捷函数
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def run_ros2_tests():
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"""运行 ROS2 相关测试"""
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if not HAS_ROS2:
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print("❌ ROS2 dependencies not available, skipping tests")
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return False
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import subprocess
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result = subprocess.run(
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["python", "-m", "pytest", "tests/test_ros2_instance.py", "-v", "--tb=short"],
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capture_output=True,
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text=True,
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)
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print(result.stdout)
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if result.stderr:
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print("STDERR:", result.stderr)
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return result.returncode == 0
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if __name__ == "__main__":
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# 直接运行测试
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run_ros2_tests()
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