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

src/py_srv/test/conftest.py

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+"""pytest 共享 fixtures - py_srv 测试。"""
+from typing import Iterator
+
+import pytest
+import rclpy
+
+from py_srv.add_two_ints_client import AddTwoIntsClient
+from py_srv.add_two_ints_server import AddTwoIntsServer
+
+
+@pytest.fixture(scope='session')
+def ros_context() -> Iterator[None]:
+    """session 级 rclpy 上下文。"""
+    rclpy.init()
+    try:
+        yield
+    finally:
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+@pytest.fixture
+def server(ros_context: None) -> Iterator[AddTwoIntsServer]:
+    """每个测试一个独立 server 实例。"""
+    node = AddTwoIntsServer()
+    try:
+        yield node
+    finally:
+        node.destroy_node()
+
+
+@pytest.fixture
+def client(ros_context: None) -> Iterator[AddTwoIntsClient]:
+    """每个测试一个独立 client 实例。"""
+    node = AddTwoIntsClient()
+    try:
+        yield node
+    finally:
+        node.destroy_node()

src/py_srv/test/test_srv_client.py

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+"""测试 AddTwoIntsServiceClient 客户端调用服务端(同进程)。"""
+import time
+
+import rclpy
+import pytest
+from example_interfaces.srv import AddTwoInts
+
+from py_srv.add_two_ints_server import AddTwoIntsServer
+from py_srv.add_two_ints_client import AddTwoIntsClient
+
+
+def test_client_calls_server_inproc(ros_context: None) -> None:
+    """同进程 spin:server + client,验证 12+30=42。"""
+    server = AddTwoIntsServer()
+    client = AddTwoIntsClient()
+
+    executor = rclpy.executors.SingleThreadedExecutor()
+    executor.add_node(server)
+    executor.add_node(client)
+
+    # 触发 client 调用
+    result_future_container: list = []
+
+    def call_in_thread() -> None:
+        # 给点时间让 server 注册(同进程也需要一点 spin 时间)
+        deadline = time.time() + 2.0
+        while time.time() < deadline:
+            executor.spin_once(timeout_sec=0.05)
+            if client._client.service_is_ready():
+                break
+        result = client.call_once(12, 30, timeout_sec=3.0)
+        result_future_container.append(result)
+
+    import threading
+    t = threading.Thread(target=call_in_thread)
+    t.start()
+    t.join(timeout=5.0)
+
+    server.destroy_node()
+    client.destroy_node()
+
+    assert len(result_future_container) == 1
+    assert result_future_container[0] == 42

src/py_srv/test/test_srv_server.py

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+"""测试 AddTwoIntsServiceRequest 服务端处理逻辑。"""
+from py_srv.add_two_ints_server import AddTwoIntsServer
+
+
+def test_server_node_name(server: AddTwoIntsServer) -> None:
+    """默认节点名正确。"""
+    assert server.get_name() == 'add_two_ints_server'
+
+
+def test_server_service_name(server: AddTwoIntsServer) -> None:
+    """默认 service_name 参数正确。"""
+    assert server.get_parameter('service_name').value == 'add_two_ints'
+
+
+def test_server_handle_positive(server: AddTwoIntsServer) -> None:
+    """正数加法正确。"""
+    from example_interfaces.srv import AddTwoInts
+    req = AddTwoInts.Request()
+    req.a = 12
+    req.b = 30
+    resp = AddTwoInts.Response()
+    out = server._handle_request(req, resp)
+    assert out.sum == 42
+
+
+def test_server_handle_negative(server: AddTwoIntsServer) -> None:
+    """负数加法正确。"""
+    from example_interfaces.srv import AddTwoInts
+    req = AddTwoInts.Request()
+    req.a = -5
+    req.b = 3
+    resp = AddTwoInts.Response()
+    out = server._handle_request(req, resp)
+    assert out.sum == -2
+
+
+def test_server_handle_zero(server: AddTwoIntsServer) -> None:
+    """零加法正确。"""
+    from example_interfaces.srv import AddTwoInts
+    req = AddTwoInts.Request()
+    req.a = 0
+    req.b = 0
+    resp = AddTwoInts.Response()
+    out = server._handle_request(req, resp)
+    assert out.sum == 0