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import tempfile
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import unittest
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from pathlib import Path
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from unittest import mock
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from tests.python.support.paths import add_repo_path
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add_repo_path("skills/urdf/scripts")
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from urdf import cli
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from urdf.source import UrdfSourceError
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def _write_urdf_source(path: Path, body: str) -> None:
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path.write_text(
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"\n".join(
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[
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"def gen_urdf():",
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*[f" {line}" for line in body.splitlines()],
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"",
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]
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),
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encoding="utf-8",
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)
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def _strip_cadpy_metadata_comments(text: str) -> str:
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return "\n".join(
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line for line in text.splitlines() if not line.startswith("<!-- cadpy:")
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) + "\n"
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class UrdfCliTests(unittest.TestCase):
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def test_requires_explicit_target(self) -> None:
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with self.assertRaises(SystemExit) as cm:
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cli.main([])
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self.assertEqual(2, cm.exception.code)
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def test_rejects_summary_option(self) -> None:
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with self.assertRaises(SystemExit) as cm:
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cli.main(["sample_robot.py", "--summary"])
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self.assertEqual(2, cm.exception.code)
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def test_rejects_validate_options(self) -> None:
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for option in ("--validate", "--no-validate"):
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with self.subTest(option=option):
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with self.assertRaises(SystemExit) as cm:
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cli.main(["sample_robot.py", option])
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self.assertEqual(2, cm.exception.code)
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def test_passes_targets_and_output(self) -> None:
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with mock.patch.object(cli, "generate_urdf_targets", return_value=0) as generate:
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self.assertEqual(0, cli.main(["sample_robot.py", "-o", "sample_robot.urdf"]))
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generate.assert_called_once_with(["sample_robot.py"], output="sample_robot.urdf")
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def test_rejects_output_with_pair_target(self) -> None:
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with self.assertRaises(SystemExit) as cm:
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cli.main(["sample_robot.py=sample_robot.urdf", "-o", "other.urdf"])
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self.assertEqual(2, cm.exception.code)
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def test_generates_default_sibling_output_from_xml_string(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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_write_urdf_source(
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source_path,
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"return '<robot name=\"sample\"><link name=\"base_link\" /></robot>'",
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)
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self.assertEqual(0, cli.generate_urdf_targets([str(source_path)]))
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output_text = source_path.with_suffix(".urdf").read_text(encoding="utf-8")
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self.assertIn("<!-- cadpy:sourcePath=", output_text)
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self.assertEqual(
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'<robot name="sample"><link name="base_link" /></robot>\n',
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_strip_cadpy_metadata_comments(output_text),
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)
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def test_generates_default_sibling_output_from_element_root(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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source_path.write_text(
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"\n".join(
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[
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"import xml.etree.ElementTree as ET",
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"",
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"def gen_urdf():",
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" robot = ET.Element('robot', {'name': 'sample'})",
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" ET.SubElement(robot, 'link', {'name': 'base_link'})",
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" return robot",
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"",
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]
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),
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encoding="utf-8",
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)
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self.assertEqual(0, cli.generate_urdf_targets([str(source_path)]))
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output_text = source_path.with_suffix(".urdf").read_text(encoding="utf-8")
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self.assertIn("<!-- cadpy:sourcePath=", output_text)
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self.assertEqual(
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'<?xml version="1.0"?>\n<robot name="sample">\n <link name="base_link" />\n</robot>\n',
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_strip_cadpy_metadata_comments(output_text),
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)
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def test_generates_envelope_output_from_element_root(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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source_path.write_text(
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"\n".join(
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[
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"import xml.etree.ElementTree as ET",
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"",
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"def gen_urdf():",
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" robot = ET.Element('robot', {'name': 'sample'})",
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" ET.SubElement(robot, 'link', {'name': 'base_link'})",
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" return {'xml': robot}",
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"",
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]
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),
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encoding="utf-8",
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)
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self.assertEqual(0, cli.generate_urdf_targets([str(source_path)]))
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self.assertIn(
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'<link name="base_link" />',
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source_path.with_suffix(".urdf").read_text(encoding="utf-8"),
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)
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def test_generates_output_override_for_single_target(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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output_path = Path(tempdir) / "custom" / "robot.urdf"
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_write_urdf_source(
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source_path,
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"return '<robot name=\"sample\"><link name=\"base_link\" /></robot>'",
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)
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self.assertEqual(0, cli.generate_urdf_targets([str(source_path)], output=str(output_path)))
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self.assertTrue(output_path.exists())
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self.assertFalse(source_path.with_suffix(".urdf").exists())
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def test_validates_generated_output(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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output_path = Path(tempdir) / "custom" / "robot.urdf"
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_write_urdf_source(
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source_path,
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"return '<robot name=\"sample\"><link name=\"base_link\" /></robot>'",
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)
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with mock.patch.object(cli, "read_urdf_source") as read_urdf_source:
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self.assertEqual(0, cli.generate_urdf_targets([str(source_path)], output=str(output_path)))
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read_urdf_source.assert_called_once_with(output_path.resolve())
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def test_rejects_invalid_generated_output(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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output_path = Path(tempdir) / "custom" / "robot.urdf"
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_write_urdf_source(source_path, "return '<not-robot />'")
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with self.assertRaisesRegex(UrdfSourceError, "root element must be <robot>"):
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cli.generate_urdf_targets([str(source_path)], output=str(output_path))
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def test_generates_mixed_plain_and_paired_targets(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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root = Path(tempdir)
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first_path = root / "first.py"
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second_path = root / "second.py"
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second_output = root / "custom" / "second.urdf"
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_write_urdf_source(first_path, "return '<robot name=\"first\"><link name=\"base\" /></robot>'")
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_write_urdf_source(second_path, "return '<robot name=\"second\"><link name=\"base\" /></robot>'")
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self.assertEqual(0, cli.generate_urdf_targets([str(first_path), f"{second_path}={second_output}"]))
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self.assertTrue(first_path.with_suffix(".urdf").exists())
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self.assertTrue(second_output.exists())
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self.assertFalse(second_path.with_suffix(".urdf").exists())
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def test_rejects_legacy_urdf_output_field(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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_write_urdf_source(
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source_path,
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"\n".join(
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[
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"return {",
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" 'xml': '<robot name=\"sample\"><link name=\"base_link\" /></robot>',",
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" 'urdf_output': 'legacy/ignored.urdf',",
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"}",
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]
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),
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)
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with self.assertRaisesRegex(TypeError, "unsupported field\\(s\\): urdf_output"):
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cli.generate_urdf_targets([str(source_path)])
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def test_rejects_legacy_validate_field(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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_write_urdf_source(
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source_path,
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"\n".join(
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[
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"return {",
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" 'xml': '<robot name=\"sample\"><link name=\"base_link\" /></robot>',",
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" 'validate': False,",
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"}",
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]
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),
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)
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with self.assertRaisesRegex(TypeError, "unsupported field\\(s\\): validate"):
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cli.generate_urdf_targets([str(source_path)])
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def test_rejects_explorer_metadata_field(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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output_path = Path(tempdir) / "custom" / "sample_robot.urdf"
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_write_urdf_source(
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source_path,
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"\n".join(
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[
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"return {",
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" 'xml': '<robot name=\"sample\"><link name=\"base_link\" /></robot>',",
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" 'explorer_metadata': {",
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" 'schemaVersion': 1,",
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" 'kind': 'example-urdf-consumer',",
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" 'defaultJoints': {'joint_1': 90},",
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" },",
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"}",
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]
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),
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)
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with self.assertRaisesRegex(TypeError, "unsupported field\\(s\\): explorer_metadata"):
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cli.generate_urdf_targets([f"{source_path}={output_path}"])
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self.assertFalse(output_path.exists())
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def test_rejects_invalid_output_suffix(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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source_path = Path(tempdir) / "sample_robot.py"
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_write_urdf_source(source_path, "return '<robot name=\"sample\"><link name=\"base\" /></robot>'")
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with self.assertRaisesRegex(ValueError, "must end in .urdf"):
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cli.generate_urdf_targets([f"{source_path}={Path(tempdir) / 'sample.xml'}"])
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def test_rejects_duplicate_output_paths(self) -> None:
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with tempfile.TemporaryDirectory(prefix="tmp-urdf-") as tempdir:
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first_path = Path(tempdir) / "first.py"
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second_path = Path(tempdir) / "second.py"
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output_path = Path(tempdir) / "same.urdf"
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_write_urdf_source(first_path, "return '<robot name=\"first\"><link name=\"base\" /></robot>'")
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_write_urdf_source(second_path, "return '<robot name=\"second\"><link name=\"base\" /></robot>'")
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with self.assertRaisesRegex(ValueError, "used more than once"):
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cli.generate_urdf_targets([f"{first_path}={output_path}", f"{second_path}={output_path}"])
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if __name__ == "__main__":
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unittest.main()
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