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72 lines
2.1 KiB
Python
72 lines
2.1 KiB
Python
"""
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基本测试
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测试消息转换器的基本功能，包括导入、类型映射等。
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"""
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import unittest
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from unilabos.ros.msgs.message_converter import (
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msg_converter_manager,
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get_msg_type,
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get_action_type,
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get_ros_type_by_msgname,
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Point3D,
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Point,
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Float64,
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String,
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Bool,
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Int32,
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)
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class TestBasicFunctionality(unittest.TestCase):
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"""测试消息转换器的基本功能"""
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def test_manager_initialization(self):
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"""测试导入管理器初始化"""
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self.assertIsNotNone(msg_converter_manager)
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self.assertTrue(len(msg_converter_manager.list_modules()) > 0)
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self.assertTrue(len(msg_converter_manager.list_classes()) > 0)
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def test_get_msg_type(self):
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"""测试获取消息类型"""
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self.assertEqual(get_msg_type(float), Float64)
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self.assertEqual(get_msg_type(str), String)
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self.assertEqual(get_msg_type(bool), Bool)
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self.assertEqual(get_msg_type(int), Int32)
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self.assertEqual(get_msg_type(Point3D), Point)
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# 测试错误情况
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with self.assertRaises(ValueError):
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get_msg_type(set) # 不支持的类型
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def test_get_action_type(self):
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"""测试获取动作类型"""
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float_action = get_action_type(float)
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self.assertIsNotNone(float_action)
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self.assertTrue("type" in float_action)
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self.assertTrue("goal" in float_action)
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self.assertTrue("feedback" in float_action)
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# 测试错误情况
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with self.assertRaises(ValueError):
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get_action_type(set) # 不支持的类型
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def test_get_ros_type_by_msgname(self):
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"""测试通过消息名称获取ROS类型"""
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# 测试有效的消息名称
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point_type = get_ros_type_by_msgname("geometry_msgs/msg/Point")
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self.assertEqual(point_type, Point)
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# 测试无效的消息名称
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with self.assertRaises(ValueError):
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get_ros_type_by_msgname("invalid_format")
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# 不存在的消息类型可能会引发ImportError，但这依赖于运行环境
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# 因此不进行显式测试
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if __name__ == "__main__":
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unittest.main()
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