feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组

src/py_params/test/test_param_callback.py

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+"""测试参数变化回调: 接受合法值 / 拒绝非法值 / 同步缓存。"""
+from rcl_interfaces.msg import ParameterValue, ParameterType
+from rclpy.parameter import Parameter
+
+from py_params.param_node import ParamsTalker
+
+
+def _make_double_param(name: str, value: float) -> Parameter:
+    """构造 DOUBLE 类型 Parameter(测试样板)。"""
+    return Parameter(
+        name=name,
+        value=ParameterValue(
+            type=ParameterType.PARAMETER_DOUBLE,
+            double_value=value,
+        ),
+    )
+
+
+def _make_string_param(name: str, value: str) -> Parameter:
+    """构造 STRING 类型 Parameter(测试样板)。"""
+    return Parameter(
+        name=name,
+        value=ParameterValue(
+            type=ParameterType.PARAMETER_STRING,
+            string_value=value,
+        ),
+    )
+
+
+def test_set_valid_rate(params_talker: ParamsTalker) -> None:
+    """合法 rate 被接受,值更新。"""
+    results = params_talker.set_parameters([_make_double_param('publish_rate_hz', 5.0)])
+    assert results[0].successful is True
+    assert params_talker.get_parameter('publish_rate_hz').value == 5.0
+
+
+def test_reject_zero_rate(params_talker: ParamsTalker) -> None:
+    """rate == 0 被拒绝。"""
+    results = params_talker.set_parameters([_make_double_param('publish_rate_hz', 0.0)])
+    assert results[0].successful is False
+    assert '必须 > 0' in results[0].reason
+    assert params_talker.get_parameter('publish_rate_hz').value == 1.0
+
+
+def test_reject_negative_rate(params_talker: ParamsTalker) -> None:
+    """rate < 0 被拒绝。"""
+    results = params_talker.set_parameters([_make_double_param('publish_rate_hz', -2.5)])
+    assert results[0].successful is False
+    assert '必须 > 0' in results[0].reason
+    assert params_talker.get_parameter('publish_rate_hz').value == 1.0
+
+
+def test_set_prefix_syncs_cache(params_talker: ParamsTalker) -> None:
+    """message_prefix 改变时,内部缓存同步。"""
+    results = params_talker.set_parameters(
+        [_make_string_param('message_prefix', 'HelloWorld:')],
+    )
+    assert results[0].successful is True
+    # 验证内部缓存
+    assert params_talker._prefix == 'HelloWorld:'
+
+
+def test_set_parameters_atomically_all_success(params_talker: ParamsTalker) -> None:
+    """原子设置: 全部合法 → 全部生效。"""
+    new_params = [
+        _make_double_param('publish_rate_hz', 3.0),
+        _make_string_param('message_prefix', 'Atomic:'),
+    ]
+    result = params_talker.set_parameters_atomically(new_params)
+    assert result.successful is True
+    assert params_talker.get_parameter('publish_rate_hz').value == 3.0
+    assert params_talker.get_parameter('message_prefix').value == 'Atomic:'
+
+
+def test_set_parameters_atomically_rollback(params_talker: ParamsTalker) -> None:
+    """原子设置: 任一非法 → 全部回滚。"""
+    new_params = [
+        _make_string_param('message_prefix', 'ShouldNotApply:'),
+        _make_double_param('publish_rate_hz', -1.0),
+    ]
+    result = params_talker.set_parameters_atomically(new_params)
+    assert result.successful is False
+    assert params_talker.get_parameter('message_prefix').value == 'Params:'