update docs, test examples

fix liquid_handler init bug

unilabos/test/ros/msgs/test_mapping.py

@@ -0,0 +1,120 @@
+"""
+映射测试
+
+测试消息类型映射和字段映射功能。
+"""
+
+import unittest
+from dataclasses import dataclass
+
+from unilabos.ros.msgs.message_converter import (
+    _msg_mapping,
+    _action_mapping,
+    _msg_converter,
+    _msg_converter_back,
+    compare_model_fields,
+    Point,
+    Point3D,
+    Float64,
+    String,
+    set_msg_data,
+)
+
+
+@dataclass
+class TestMappingModel:
+    """用于测试映射的数据类"""
+
+    id: str
+    name: str
+    value: float
+
+
+@dataclass
+class TestPointModel:
+    """用于测试字段比较的点模型"""
+
+    x: float
+    y: float
+    z: float
+
+
+class TestTypeMapping(unittest.TestCase):
+    """测试类型映射"""
+
+    def test_msg_mapping(self):
+        """测试消息类型映射"""
+        self.assertIn(float, _msg_mapping)
+        self.assertEqual(_msg_mapping[float], Float64)
+
+        self.assertIn(str, _msg_mapping)
+        self.assertEqual(_msg_mapping[str], String)
+
+        self.assertIn(Point3D, _msg_mapping)
+        self.assertEqual(_msg_mapping[Point3D], Point)
+
+    def test_action_mapping(self):
+        """测试动作类型映射"""
+        self.assertIn(float, _action_mapping)
+        self.assertIn("type", _action_mapping[float])
+        self.assertIn("goal", _action_mapping[float])
+        self.assertIn("feedback", _action_mapping[float])
+        self.assertIn("result", _action_mapping[float])
+
+    def test_converter_mapping(self):
+        """测试转换器映射"""
+        # 测试Python到ROS映射
+        self.assertIn(float, _msg_converter)
+        self.assertIn(Float64, _msg_converter)
+        self.assertIn(String, _msg_converter)
+        self.assertIn(Point, _msg_converter)
+
+        # 测试ROS到Python映射
+        self.assertIn(float, _msg_converter_back)
+        self.assertIn(Float64, _msg_converter_back)
+        self.assertIn(String, _msg_converter_back)
+        self.assertIn(Point, _msg_converter_back)
+
+
+class TestFieldMapping(unittest.TestCase):
+    """测试字段映射"""
+
+    def test_compare_model_fields(self):
+        """测试模型字段比较"""
+        # Point3D和TestPointModel有相同的字段
+        self.assertTrue(compare_model_fields(Point3D, TestPointModel))
+
+        # 与其他类型比较
+        self.assertFalse(compare_model_fields(Point3D, TestMappingModel))
+        self.assertFalse(compare_model_fields(Point3D, float))
+
+        # 类型对象和实例对象比较
+        point = Point3D(x=1.0, y=2.0, z=3.0)
+        self.assertTrue(compare_model_fields(Point3D, type(point)))
+
+    def test_set_msg_data(self):
+        """测试设置消息数据类型"""
+        # 测试float转换
+        float_value = "3.14"
+        self.assertEqual(set_msg_data("float", float_value), 3.14)
+        self.assertEqual(set_msg_data("double", float_value), 3.14)
+
+        # 测试int转换
+        int_value = "42"
+        self.assertEqual(set_msg_data("int", int_value), 42)
+
+        # 测试bool转换
+        bool_value = "True"
+        self.assertEqual(set_msg_data("bool", bool_value), True)
+
+        # 测试str转换
+        str_value = "hello"
+        self.assertEqual(set_msg_data("str", str_value), "hello")
+
+        # 测试默认转换
+        default_value = 123
+        self.assertEqual(set_msg_data("unknown_type", default_value), "123")
+
+
+if __name__ == "__main__":
+    unittest.main()