feat: 基于Python ROS2的控制程序

ros-control-py/udp_teleop_bridge/test/test_protocol.py

@@ -0,0 +1,54 @@
+from pathlib import Path
+import sys
+
+import pytest
+
+
+ROOT = Path(__file__).resolve().parents[1]
+if str(ROOT) not in sys.path:
+    sys.path.insert(0, str(ROOT))
+
+from udp_teleop_bridge.protocol import (  # noqa: E402
+    PACKET_SIZE,
+    default_server_addr_for_transport,
+    normalize_command,
+    normalize_transport,
+    pack_command,
+    unpack_command,
+)
+
+
+def test_pack_unpack_round_trip() -> None:
+    command = (0.1, -0.2, 0.3, -0.4, 0.5, -0.6)
+
+    payload = pack_command(command)
+
+    assert len(payload) == PACKET_SIZE
+    assert unpack_command(payload) == pytest.approx(command)
+
+
+@pytest.mark.parametrize('value', [float('nan'), float('inf'), float('-inf')])
+def test_normalize_command_rejects_non_finite_values(value: float) -> None:
+    with pytest.raises(ValueError, match='non-finite'):
+        normalize_command((0.0, 0.0, value, 0.0, 0.0, 0.0))
+
+
+def test_unpack_command_rejects_wrong_length() -> None:
+    with pytest.raises(ValueError, match='Expected'):
+        unpack_command(b'\x00' * (PACKET_SIZE - 1))
+
+
+@pytest.mark.parametrize(
+    ('transport', 'expected'),
+    [
+        ('udp', '127.0.0.1:9001'),
+        ('kcp', '127.0.0.1:9002'),
+    ],
+)
+def test_default_server_addr_for_transport(transport: str, expected: str) -> None:
+    assert default_server_addr_for_transport(transport) == expected
+
+
+def test_normalize_transport_rejects_unknown_value() -> None:
+    with pytest.raises(ValueError, match='Unsupported transport'):
+        normalize_transport('sctp')