refactor: simplify _extract_namespaced_type_fields, remove redundant try-except and post-processing

Made-with: Cursor

.bumpversion.cfg

@@ -1,10 +0,0 @@
-[bumpversion]
-current_version = 0.1.4
-commit = True
-tag = True
-tag_name = v{new_version}
-message = Bump version: {current_version} → {new_version}
-
-[bumpversion:file:msgcenterpy/__init__.py]
-search = __version__ = "{current_version}"
-replace = __version__ = "{new_version}"

.github/workflows/ci.yml

@@ -16,12 +16,12 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10" # Use minimum version for consistency
+          python-version: "3.10"
 
       - name: Install dependencies
         run: |
@@ -33,27 +33,27 @@ jobs:
         with:
           extra_args: --all-files
 
-  # Step 2: Basic build and test with minimum Python version (3.10)
+  # Step 2: Basic build and test
   basic-build:
-    name: Basic build (Python 3.10, Ubuntu)
+    name: Basic build (Python 3.11, Ubuntu)
     runs-on: ubuntu-latest
     needs: [code-format] # Only run after code formatting passes
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
-      - name: Set up Python 3.10
+      - name: Set up Python 3.11
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10"
+          python-version: "3.11"
 
       - name: Cache pip dependencies
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           path: ~/.cache/pip
-          key: ubuntu-pip-3.10-${{ hashFiles('**/pyproject.toml') }}
+          key: ubuntu-pip-3.11-${{ hashFiles('**/pyproject.toml') }}
           restore-keys: |
-            ubuntu-pip-3.10-
+            ubuntu-pip-3.11-
 
       - name: Install dependencies
         run: |
@@ -72,7 +72,7 @@ jobs:
     needs: [basic-build] # Only run after basic build passes
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Setup Miniconda
         uses: conda-incubator/setup-miniconda@v3
@@ -112,7 +112,7 @@ jobs:
     needs: [basic-build] # Run in parallel with ROS2 test after basic build
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Run Safety CLI to check for vulnerabilities
         uses: pyupio/safety-action@v1
@@ -122,7 +122,7 @@ jobs:
           args: --detailed-output --output-format json
 
       - name: Upload security reports
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: security-reports
           path: |
@@ -136,7 +136,7 @@ jobs:
     needs: [basic-build] # Run in parallel with other checks
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Set up Python
         uses: actions/setup-python@v6
@@ -155,7 +155,7 @@ jobs:
         run: twine check dist/*
 
       - name: Upload build artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: dist
           path: dist/
@@ -173,10 +173,10 @@ jobs:
         exclude:
           # Skip the combination we already tested in basic-build
           - os: ubuntu-latest
-            python-version: "3.10"
+            python-version: "3.11"
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v6
@@ -184,7 +184,7 @@ jobs:
           python-version: ${{ matrix.python-version }}
 
       - name: Cache pip dependencies
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           path: ~/.cache/pip
           key: ${{ runner.os }}-pip-${{ matrix.python-version }}-${{ hashFiles('**/pyproject.toml') }}
@@ -195,20 +195,9 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          python -m pip install flake8 pytest
+          python -m pip install pytest
           pip install -e .[dev]
 
-      - name: Lint with flake8
-        run: |
-          # stop the build if there are Python syntax errors or undefined names
-          flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
-          # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
-          flake8 . --count --exit-zero --max-line-length=200 --extend-ignore=E203,W503,F401,E402,E721,F841 --statistics
-
-      - name: Type checking with mypy
-        run: |
-          mypy msgcenterpy --disable-error-code=unused-ignore
-
       - name: Test with pytest
         run: |
           pytest

.github/workflows/docs.yml

@@ -36,7 +36,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
         with:
           ref: ${{ github.event.inputs.branch || github.ref }}
 

.github/workflows/publish.yml

@@ -29,12 +29,12 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10" # Use minimum version for consistency
+          python-version: "3.10"
 
       - name: Install dependencies
         run: |
@@ -46,27 +46,27 @@ jobs:
         with:
           extra_args: --all-files
 
-  # Step 2: Basic build and test with minimum Python version (3.10)
+  # Step 2: Basic build and test
   basic-build:
-    name: Basic build (Python 3.10, Ubuntu)
+    name: Basic build (Python 3.11, Ubuntu)
     runs-on: ubuntu-latest
     needs: [code-format] # Only run after code formatting passes
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
-      - name: Set up Python 3.10
+      - name: Set up Python 3.11
         uses: actions/setup-python@v6
         with:
-          python-version: "3.10"
+          python-version: "3.11"
 
       - name: Cache pip dependencies
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           path: ~/.cache/pip
-          key: ubuntu-pip-3.10-${{ hashFiles('**/pyproject.toml') }}
+          key: ubuntu-pip-3.11-${{ hashFiles('**/pyproject.toml') }}
           restore-keys: |
-            ubuntu-pip-3.10-
+            ubuntu-pip-3.11-
 
       - name: Install dependencies
         run: |
@@ -78,14 +78,14 @@ jobs:
         run: |
           pytest -v
 
-          # Step 3: ROS2 integration test
+  # Step 3: ROS2 integration test
   test-with-ros2:
     name: ROS2 integration test
     runs-on: ubuntu-latest
     needs: [basic-build] # Only run after basic build passes
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Setup Miniconda
         uses: conda-incubator/setup-miniconda@v3
@@ -125,7 +125,7 @@ jobs:
     needs: [basic-build] # Run in parallel with ROS2 test after basic build
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Run Safety CLI to check for vulnerabilities
         uses: pyupio/safety-action@v1
@@ -135,7 +135,7 @@ jobs:
           args: --detailed-output --output-format json
 
       - name: Upload security reports
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: security-reports
           path: |
@@ -148,7 +148,7 @@ jobs:
     needs: [test-with-ros2]
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Set up Python
         uses: actions/setup-python@v6
@@ -197,7 +197,7 @@ jobs:
           twine check dist/*
 
       - name: Upload distributions
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: release-dists
           path: dist/
@@ -217,7 +217,7 @@ jobs:
 
     steps:
       - name: Retrieve release distributions
-        uses: actions/download-artifact@v5
+        uses: actions/download-artifact@v7
         with:
           name: release-dists
           path: dist/
@@ -240,7 +240,7 @@ jobs:
 
     steps:
       - name: Retrieve release distributions
-        uses: actions/download-artifact@v5
+        uses: actions/download-artifact@v7
         with:
           name: release-dists
           path: dist/
@@ -260,7 +260,7 @@ jobs:
 
     steps:
       - name: Retrieve release distributions
-        uses: actions/download-artifact@v5
+        uses: actions/download-artifact@v7
         with:
           name: release-dists
           path: dist/
@@ -279,7 +279,7 @@ jobs:
     if: always() && (needs.pypi-publish.result == 'success' || needs.test-pypi-publish.result == 'success')
 
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
 
       - name: Create deployment summary
         run: |

.pre-commit-config.yaml

@@ -1,81 +1,77 @@
+# MsgCenterPy pre-commit hooks
+# All tool configs are centralised in pyproject.toml
+
 repos:
-  # Code formatting
+  # ── Code formatting ───────────────────────────────────────────
   - repo: https://github.com/psf/black
-    rev: 23.12.1
+    rev: 26.1.0
     hooks:
       - id: black
         language_version: python3
-        args: ["--line-length=120"]
+        # Reads [tool.black] from pyproject.toml
 
-  # Import sorting
+  # ── Import sorting ────────────────────────────────────────────
   - repo: https://github.com/pycqa/isort
-    rev: 5.13.2
+    rev: 6.1.0
     hooks:
       - id: isort
-        args: ["--profile", "black", "--multi-line", "3"]
+        # Reads [tool.isort] from pyproject.toml
 
-  # Linting
+  # ── Linting ───────────────────────────────────────────────────
   - repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.3.0
     hooks:
       - id: flake8
-        args:
-          - "--max-line-length=200" # Allow longer lines after black formatting
-          - "--extend-ignore=E203,W503,F401,E402,E721,F841"
-          - "--exclude=build,dist,__pycache__,.mypy_cache,.pytest_cache,htmlcov,.idea,.vscode,docs/_build,msgcenterpy.egg-info"
+        additional_dependencies: ["Flake8-pyproject"]
+        # Reads [tool.flake8] from pyproject.toml via Flake8-pyproject
 
-  # Type checking
+  # ── Type checking ─────────────────────────────────────────────
   - repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.8.0
+    rev: v1.19.1
     hooks:
       - id: mypy
-        additional_dependencies: [types-PyYAML, types-jsonschema, pydantic]
-        args: ["--ignore-missing-imports", "--disable-error-code=unused-ignore"]
-        files: "^(msgcenterpy/)" # Check both source code and tests
+        args: ["--config-file=pyproject.toml"]
+        files: "^(msgcenterpy/)"
+        additional_dependencies:
+          - "pydantic>=2.0"
+          - "types-PyYAML"
+          - "types-jsonschema"
 
-  # General pre-commit hooks
+  # ── Basic file checks ────────────────────────────────────────
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v6.0.0
     hooks:
-      # File checks
       - id: trailing-whitespace
-        args: [--markdown-linebreak-ext=md]
       - id: end-of-file-fixer
       - id: check-yaml
       - id: check-json
       - id: check-toml
-      - id: check-xml
-
-      # Security
       - id: check-merge-conflict
       - id: check-case-conflict
       - id: check-symlinks
       - id: check-added-large-files
-        args: ["--maxkb=1000"]
-
-      # Python specific
       - id: check-ast
       - id: debug-statements
       - id: name-tests-test
-        args: ["--django"]
+        args: ["--pytest-test-first"]
 
-  # Security scanning
+  # ── Security scanning ────────────────────────────────────────
   - repo: https://github.com/PyCQA/bandit
-    rev: 1.7.5
+    rev: 1.9.3
     hooks:
       - id: bandit
         args: ["-c", "pyproject.toml"]
         additional_dependencies: ["bandit[toml]", "pbr"]
-        exclude: "^tests/"
+        exclude: "^(tests/)"
 
-  # YAML/JSON formatting
+  # ── YAML/JSON/Markdown formatting ────────────────────────────
   - repo: https://github.com/pre-commit/mirrors-prettier
     rev: v4.0.0-alpha.8
     hooks:
       - id: prettier
         types_or: [yaml, json, markdown]
-        exclude: "^(build/|dist/|__pycache__/|\\.mypy_cache/|\\.pytest_cache/|htmlcov/|\\.idea/|\\.vscode/|docs/_build/|msgcenterpy\\.egg-info/)"
+        exclude: "^(build/|dist/|__pycache__/|\\.mypy_cache/|\\.pytest_cache/|htmlcov/|\\.vscode/|docs/_build/|msgcenterpy\\.egg-info/)"
 
 # Global settings
-default_stages: [pre-commit, pre-push]
+default_stages: [pre-commit]
 fail_fast: false

docs/development/contributing.rst

@@ -88,18 +88,18 @@ Testing
 Version Management
 ------------------
 
-This project uses `bump2version` for version management. It's automatically installed with dev dependencies.
+This project uses `bump-my-version <https://github.com/callowayproject/bump-my-version>`_ for version management. It's automatically installed with dev dependencies. Configuration lives in ``pyproject.toml`` under ``[tool.bumpversion]``.
 
 .. code-block:: bash
 
    # Bug fixes (0.0.1 → 0.0.2)
-   bump2version patch
+   bump-my-version bump patch
 
    # New features (0.0.2 → 0.1.0)
-   bump2version minor
+   bump-my-version bump minor
 
    # Breaking changes (0.1.0 → 1.0.0)
-   bump2version major
+   bump-my-version bump major
 
 After bumping version, push changes and tags:
 

msgcenterpy/__init__.py

@@ -5,7 +5,7 @@ A multi-format message conversion system supporting seamless conversion
 between ROS2, Pydantic, Dataclass, JSON, Dict, YAML and JSON Schema.
 """
 
-__version__ = "0.1.4"
+__version__ = "0.1.8"
 __license__ = "Apache-2.0"
 
 from msgcenterpy.core.envelope import MessageEnvelope, create_envelope

msgcenterpy/core/envelope.py

@@ -9,6 +9,8 @@ class Properties(TypedDict, total=False):
     ros_msg_cls_path: str
     ros_msg_cls_namespace: str
     json_schema: Dict[str, Any]
+    typed_dict_class_module: str
+    typed_dict_class_name: str
 
 
 class FormatMetadata(TypedDict, total=False):

msgcenterpy/core/field_accessor.py

@@ -358,14 +358,14 @@ class TypeInfoProvider(ABC):
 
     @abstractmethod
     def get_field_type_info(
-        self, field_name: str, field_value: Any, field_accessor: "FieldAccessor"
+        self, field_name: str, field_value: Any, parent_field_accessor: "FieldAccessor"
     ) -> Optional[TypeInfo]:
         """获取指定字段的类型信息
 
         Args:
             field_name: 字段名，简单字段名如 'field'
             field_value: 字段的当前值，用于动态类型推断，不能为None
-            field_accessor: 字段访问器，提供额外的上下文信息，不能为None
+            parent_field_accessor: 父字段访问器，提供额外的上下文信息，不能为None
 
         Returns:
             字段的TypeInfo，如果字段不存在则返回None

msgcenterpy/core/type_info.py

@@ -277,9 +277,16 @@ class TypeInfo:
         # Special handling for object types
         if self.is_object and self.object_fields:
             properties = {}
+            required_fields = []
             for field_name, field_info in self.object_fields.items():
                 properties[field_name] = field_info.to_json_schema_property(include_constraints)
+                if field_info.has_constraint(ConstraintType.REQUIRED):
+                    required_fields.append(field_name)
             property_schema["properties"] = properties
+            if required_fields:
+                property_schema["required"] = required_fields
+            if self.field_name and self.field_name != Consts.ELEMENT_TYPE_INFO_SYMBOL:
+                property_schema["title"] = self.field_name
 
         # Add description
         if self.original_type:

msgcenterpy/core/types.py

@@ -11,6 +11,7 @@ class MessageType(Enum):
     JSON_SCHEMA = "json_schema"
     DICT = "dict"
     YAML = "yaml"
+    TYPED_DICT = "typed_dict"  # Experimental
 
 
 class ConversionError(Exception):

msgcenterpy/instances/json_schema_instance.py

@@ -19,6 +19,87 @@ class JSONSchemaMessageInstance(MessageInstance[Dict[str, Any]]):
     _json_schema: Dict[str, Any] = dict()
     _json_data: Dict[str, Any] = dict()
 
+    _JSON_TYPE_DEFAULTS: Dict[str, Any] = {
+        "string": "",
+        "integer": 0,
+        "number": 0.0,
+        "boolean": False,
+        "null": None,
+    }
+
+    @classmethod
+    def generate_default_from_schema(cls, schema: Dict[str, Any]) -> Dict[str, Any]:
+        """根据JSON Schema生成包含所有字段默认值的数据字典
+
+        优先使用schema中显式声明的default，否则根据类型生成零值。
+        支持嵌套object递归生成。
+
+        Args:
+            schema: JSON Schema定义（根schema或子object schema）
+
+        Returns:
+            包含所有字段默认值的数据字典
+
+        Examples:
+            >>> schema = {
+            ...     "type": "object",
+            ...     "properties": {
+            ...         "name": {"type": "string"},
+            ...         "age": {"type": "integer", "default": 18},
+            ...         "active": {"type": "boolean"},
+            ...     }
+            ... }
+            >>> JSONSchemaMessageInstance.generate_default_from_schema(schema)
+            {'name': '', 'age': 18, 'active': False}
+        """
+        properties = schema.get("properties", {})
+        result: Dict[str, Any] = {}
+
+        for field_name, field_schema in properties.items():
+            if isinstance(field_schema, dict):
+                result[field_name] = cls._generate_field_default(field_schema)
+
+        return result
+
+    @classmethod
+    def _generate_field_default(cls, field_schema: Dict[str, Any]) -> Any:
+        """根据单个字段的schema生成默认值
+
+        Args:
+            field_schema: 字段的JSON Schema定义
+
+        Returns:
+            字段的默认值
+        """
+        if "default" in field_schema:
+            return field_schema["default"]
+
+        if "const" in field_schema:
+            return field_schema["const"]
+
+        if "enum" in field_schema:
+            enum_values = field_schema["enum"]
+            if enum_values:
+                return enum_values[0]
+
+        json_type = field_schema.get("type")
+
+        if json_type is None:
+            return None
+
+        # 联合类型取第一个非null类型
+        if isinstance(json_type, list):
+            non_null = [t for t in json_type if t != "null"]
+            json_type = non_null[0] if non_null else "null"
+
+        if json_type == "object":
+            return cls.generate_default_from_schema(field_schema)
+
+        if json_type == "array":
+            return []
+
+        return cls._JSON_TYPE_DEFAULTS.get(json_type)
+
     def __init__(self, inner_data: Dict[str, Any], schema: Dict[str, Any], **kwargs: Any) -> None:
         """
         初始化JSON Schema消息实例

msgcenterpy/instances/ros2_instance.py

@@ -40,11 +40,7 @@ class ROS2MessageInstance(MessageInstance[Any]):
         interface = (
             "msg"
             if ".msg" in module_name
-            else "srv"
-            if ".srv" in module_name
-            else "action"
-            if ".action" in module_name
-            else "msg"
+            else "srv" if ".srv" in module_name else "action" if ".action" in module_name else "msg"
         )
         return f"{package}/{interface}/{class_name}" if package and class_name else f"{module_name}.{class_name}"
 
@@ -221,10 +217,9 @@ class ROS2MessageInstance(MessageInstance[Any]):
             # 基础类型的约束将在 field_accessor 中自动添加
             pass
         elif isinstance(definition_type, NamespacedType):
-            # 对象类型，标记为对象并提取字段信息
             type_info.is_object = True
             type_info.add_constraint(ConstraintType.TYPE_KEEP, True)
-            # 这里可以进一步扩展来提取对象字段信息
+            self._extract_namespaced_type_fields(type_info, definition_type)
         # 提取元素类型信息
         if get_element_type:
             if not isinstance(definition_type, AbstractNestedType):
@@ -240,3 +235,33 @@ class ROS2MessageInstance(MessageInstance[Any]):
                 original_type=definition_type.value_type,
             )
             self._extract_from_rosidl_definition(type_info.element_type_info)
+
+    def _extract_namespaced_type_fields(self, type_info: TypeInfo, namespaced_type: "NamespacedType") -> None:
+        """从 NamespacedType（嵌套 ROS2 消息）中提取所有字段信息，填充 object_fields
+
+        递归处理嵌套的消息类型，确保多层嵌套的结构也能正确提取。
+
+        Args:
+            type_info: 要填充 object_fields 的 TypeInfo 对象
+            namespaced_type: rosidl NamespacedType 定义
+        """
+        msg_cls = import_message_from_namespaced_type(namespaced_type)
+        msg_instance = msg_cls()
+
+        # noinspection PyProtectedMember
+        slots = msg_instance._fields_and_field_types
+        slot_types = msg_instance.SLOT_TYPES
+
+        for field_name, slot_type in zip(slots, slot_types):
+            std_type = TypeConverter.rosidl_definition_to_standard(slot_type)
+            python_type = TypeConverter.standard_to_python_type(std_type)
+            field_type_info = TypeInfo(
+                field_name=field_name,
+                field_path=f"{type_info.field_path}.{field_name}",
+                standard_type=std_type,
+                python_type=python_type,
+                original_type=slot_type,
+            )
+            self._extract_from_rosidl_definition(field_type_info)
+            field_type_info.add_constraint(ConstraintType.REQUIRED, True)
+            type_info.object_fields[field_name] = field_type_info

msgcenterpy/instances/typed_dict_instance.py

@@ -0,0 +1,375 @@
+"""
+TypedDict Message Instance - Experimental
+
+This module provides support for TypedDict message instances with type information
+extraction and field access capabilities.
+
+WARNING: This implementation is EXPERIMENTAL and may change in future versions.
+"""
+
+import warnings
+from typing import TYPE_CHECKING, Any, Dict, Optional, Type, get_type_hints
+
+from msgcenterpy.core.envelope import MessageEnvelope, create_envelope
+from msgcenterpy.core.message_instance import MessageInstance
+from msgcenterpy.core.type_converter import TypeConverter
+from msgcenterpy.core.type_info import ConstraintType, Consts, TypeInfo
+from msgcenterpy.core.types import MessageType
+
+if TYPE_CHECKING:
+    from msgcenterpy.core.field_accessor import FieldAccessor
+
+
+class TypedDictMessageInstance(MessageInstance[Dict[str, Any]]):
+    """TypedDict消息实例，支持类型信息提取和字段访问器（实验性）
+
+    EXPERIMENTAL: This class is experimental and may change in future versions.
+
+    Attributes:
+        _typed_dict_class: TypedDict类型定义
+        _typed_dict_data: 实际的字典数据
+        _pydantic_model: 缓存的Pydantic模型（懒加载）
+        _json_schema: 缓存的JSON Schema（懒加载）
+    """
+
+    _typed_dict_class: Type[Any]
+    _typed_dict_data: Dict[str, Any]
+    _pydantic_model: Optional[Any] = None
+    _json_schema: Optional[Dict[str, Any]] = None
+
+    def __init__(self, inner_data: Dict[str, Any], typed_dict: Type[Any], **kwargs: Any) -> None:
+        """
+        初始化TypedDict消息实例
+
+        Args:
+            inner_data: 字典数据
+            typed_dict: TypedDict类型定义
+            **kwargs: 额外的关键字参数
+        """
+        # 发出实验性警告
+        warnings.warn(
+            "TypedDictMessageInstance is experimental and may change in future versions",
+            FutureWarning,
+            stacklevel=2,
+        )
+
+        # 验证typed_dict是否为TypedDict类型
+        if not self._is_typed_dict(typed_dict):
+            raise TypeError(f"Expected a TypedDict class, got {type(typed_dict)}")
+
+        self._typed_dict_class = typed_dict
+        self._typed_dict_data = inner_data
+        self._pydantic_model = None
+        self._json_schema = None
+
+        super().__init__(inner_data, MessageType.TYPED_DICT)
+
+    @staticmethod
+    def _is_typed_dict(typed_dict_class: Type[Any]) -> bool:
+        """检查给定的类是否为TypedDict"""
+        try:
+            # TypedDict类会有__annotations__和__total__等特殊属性
+            return (
+                hasattr(typed_dict_class, "__annotations__")
+                and hasattr(typed_dict_class, "__total__")
+                and hasattr(typed_dict_class, "__required_keys__")
+                and hasattr(typed_dict_class, "__optional_keys__")
+            )
+        except Exception:
+            return False
+
+    @property
+    def typed_dict_class(self) -> Type[Any]:
+        """获取TypedDict类型定义"""
+        return self._typed_dict_class
+
+    @property
+    def typed_dict_class_module(self) -> str:
+        """获取TypedDict类的模块路径"""
+        return self._typed_dict_class.__module__
+
+    @property
+    def typed_dict_class_name(self) -> str:
+        """获取TypedDict类名"""
+        return self._typed_dict_class.__name__
+
+    @classmethod
+    def get_pydantic_model_from_typed_dict(cls, typed_dict: Type[Any]) -> Any:
+        """从TypedDict类型创建Pydantic模型（类方法版本）
+
+        优先使用TypeAdapter（Pydantic V2），如果不可用则使用create_model_from_typeddict（Pydantic V1）
+
+        Args:
+            typed_dict: TypedDict类型定义
+
+        Returns:
+            Pydantic模型实例
+
+        Raises:
+            ImportError: 如果Pydantic未安装
+            RuntimeError: 如果无法创建Pydantic模型
+        """
+        # 尝试使用Pydantic V2的TypeAdapter
+        try:
+            from pydantic import TypeAdapter
+
+            adapter = TypeAdapter(typed_dict)
+            return adapter
+        except ImportError:
+            pass  # Pydantic V2不可用，尝试V1
+        except Exception as e:
+            # TypeAdapter创建失败，尝试V1方法
+            warnings.warn(f"Failed to create TypeAdapter: {e}, trying V1 approach", RuntimeWarning)
+
+        # 尝试使用Pydantic V1的create_model_from_typeddict
+        try:
+            from pydantic.main import create_model_from_typeddict
+
+            model = create_model_from_typeddict(typed_dict)
+            return model
+        except ImportError as e:
+            raise ImportError(
+                "Pydantic is required for get_pydantic_model_from_typed_dict(). "
+                "Please install it with: pip install pydantic"
+            ) from e
+        except Exception as e:
+            raise RuntimeError(f"Failed to create Pydantic model from TypedDict: {e}") from e
+
+    def get_pydantic_model(self) -> Any:
+        """获取或创建Pydantic模型（实例方法版本）
+
+        优先使用TypeAdapter（Pydantic V2），如果不可用则使用create_model_from_typeddict（Pydantic V1）
+
+        Returns:
+            Pydantic模型实例
+
+        Raises:
+            ImportError: 如果Pydantic未安装
+            RuntimeError: 如果无法创建Pydantic模型
+        """
+        if self._pydantic_model is not None:
+            return self._pydantic_model
+
+        self._pydantic_model = self.get_pydantic_model_from_typed_dict(self._typed_dict_class)
+        return self._pydantic_model
+
+    @classmethod
+    def get_json_schema_from_typed_dict(cls, typed_dict: Type[Any]) -> Dict[str, Any]:
+        """从TypedDict类型生成JSON Schema（类方法版本）
+
+        Args:
+            typed_dict: TypedDict类型定义
+
+        Returns:
+            JSON Schema字典
+
+        Raises:
+            ImportError: 如果Pydantic未安装
+            RuntimeError: 如果无法生成JSON Schema
+        """
+        pydantic_model = cls.get_pydantic_model_from_typed_dict(typed_dict)
+
+        try:
+            schema: Dict[str, Any]
+            # Pydantic V2 API
+            if hasattr(pydantic_model, "json_schema"):
+                # TypeAdapter的情况
+                schema = pydantic_model.json_schema()
+                return schema
+            elif hasattr(pydantic_model, "model_json_schema"):
+                # BaseModel的情况（V2）
+                schema = pydantic_model.model_json_schema()
+                return schema
+            # Pydantic V1 API
+            elif hasattr(pydantic_model, "schema"):
+                schema = pydantic_model.schema()
+                return schema
+            else:
+                raise RuntimeError("Unable to extract JSON schema from Pydantic model")
+        except Exception as e:
+            raise RuntimeError(f"Failed to generate JSON schema: {e}") from e
+
+    def get_json_schema(self) -> Dict[str, Any]:
+        """获取JSON Schema（实例方法版本，利用Pydantic转换）
+
+        Returns:
+            JSON Schema字典
+
+        Raises:
+            ImportError: 如果Pydantic未安装
+            RuntimeError: 如果无法生成JSON Schema
+        """
+        if self._json_schema is not None:
+            return self._json_schema
+
+        self._json_schema = self.get_json_schema_from_typed_dict(self._typed_dict_class)
+        return self._json_schema
+
+    def export_to_envelope(self, **kwargs: Any) -> MessageEnvelope:
+        """导出为统一信封字典
+
+        将 typed_dict_class_module, typed_dict_class_name 和 json_schema 保存到 properties，
+        确保 import_from_envelope 可以独立重建实例
+        """
+        base_dict = self.get_python_dict()
+
+        # 尝试获取 json_schema（如果 Pydantic 可用）
+        json_schema = None
+        try:
+            json_schema = self.get_json_schema()
+        except (ImportError, RuntimeError):
+            # Pydantic 不可用或生成失败，继续但不保存 schema
+            pass
+
+        envelope = create_envelope(
+            format_name=self.message_type.value,
+            content=base_dict,
+            metadata={
+                "current_format": self.message_type.value,
+                "source_cls_name": self.__class__.__name__,
+                "source_cls_module": self.__class__.__module__,
+                **self._metadata,
+            },
+        )
+
+        # 将 typed_dict_class_module, typed_dict_class_name 和 json_schema 保存到 properties
+        if "properties" not in envelope["metadata"]:
+            envelope["metadata"]["properties"] = {}  # type: ignore[typeddict-item]
+        envelope["metadata"]["properties"]["typed_dict_class_module"] = self.typed_dict_class_module  # type: ignore[typeddict-item]
+        envelope["metadata"]["properties"]["typed_dict_class_name"] = self.typed_dict_class_name  # type: ignore[typeddict-item]
+        if json_schema is not None:
+            envelope["metadata"]["properties"]["json_schema"] = json_schema  # type: ignore[typeddict-item]
+
+        return envelope
+
+    @classmethod
+    def import_from_envelope(cls, data: MessageEnvelope, **kwargs: Any) -> "TypedDictMessageInstance":
+        """从规范信封创建TypedDict实例
+
+        优先从 envelope.metadata.properties 读取 json_schema，
+        如果没有 json_schema，则尝试从 typed_dict 参数或 typed_dict_class_path 恢复。
+
+        Args:
+            data: 消息信封
+            **kwargs: 可选的'typed_dict'参数
+
+        Returns:
+            TypedDict实例
+
+        Raises:
+            ValueError: 如果无法确定TypedDict类型
+        """
+        content = data["content"]
+        properties = data.get("metadata", {}).get("properties", {})
+
+        # 优先从 kwargs 获取 typed_dict
+        typed_dict = kwargs.pop("typed_dict", None)
+
+        # 如果没有提供 typed_dict，尝试从 properties 恢复
+        if typed_dict is None:
+            typed_dict_class_module = properties.get("typed_dict_class_module")
+            typed_dict_class_name = properties.get("typed_dict_class_name")
+
+            if typed_dict_class_module and typed_dict_class_name:
+                # 尝试从模块导入 TypedDict
+                try:
+                    import importlib
+
+                    module = importlib.import_module(typed_dict_class_module)
+                    typed_dict = getattr(module, typed_dict_class_name)
+                except Exception as e:
+                    raise ValueError(
+                        f"Unable to import TypedDict '{typed_dict_class_name}' from module '{typed_dict_class_module}': {e}. "
+                        "Please provide 'typed_dict' parameter explicitly."
+                    ) from e
+
+            if typed_dict is None:
+                raise ValueError(
+                    "Unable to determine TypedDict type. "
+                    "Please provide 'typed_dict' parameter or ensure envelope contains valid type information "
+                    "(typed_dict_class_module and typed_dict_class_name)."
+                )
+
+        instance = cls(content, typed_dict, **kwargs)
+        return instance
+
+    def get_python_dict(self) -> Dict[str, Any]:
+        """获取当前所有的字段名和对应的原始值"""
+        return self._typed_dict_data.copy()
+
+    def set_python_dict(self, value: Dict[str, Any], **kwargs: Any) -> bool:
+        """设置所有字段的值，只做已有字段的更新"""
+        # 获取根访问器
+        root_accessor = self._field_accessor
+        if root_accessor is not None:
+            root_accessor.update_from_dict(source_data=value)
+        return True
+
+    # TypeInfoProvider 接口实现
+    def get_field_type_info(
+        self, field_name: str, field_value: Any, parent_field_accessor: "FieldAccessor"
+    ) -> Optional[TypeInfo]:
+        """从TypedDict定义中提取字段类型信息
+
+        Args:
+            field_name: 字段名
+            field_value: 字段值
+            parent_field_accessor: 父级字段访问器
+
+        Returns:
+            字段的类型信息
+        """
+        # 构建完整路径
+        full_path = f"{parent_field_accessor.full_path_from_root}.{field_name}"
+
+        # 获取TypedDict的类型提示
+        try:
+            type_hints = get_type_hints(self._typed_dict_class)
+        except Exception:
+            type_hints = {}
+
+        # 获取字段的类型注解
+        field_type_annotation = type_hints.get(field_name)
+
+        # 确定类型信息
+        python_type = type(field_value)
+        if field_type_annotation is not None:
+            # 从类型注解推断标准类型
+            standard_type = TypeConverter.python_type_to_standard(field_type_annotation)
+        else:
+            # 如果没有类型注解，从值的类型推断
+            standard_type = TypeConverter.python_type_to_standard(python_type)
+
+        # 创建基础TypeInfo
+        type_info = TypeInfo(
+            field_name=field_name,
+            field_path=full_path,
+            standard_type=standard_type,
+            python_type=python_type,
+            original_type=field_type_annotation if field_type_annotation is not None else python_type,
+            current_value=field_value,
+        )
+
+        # 检查字段是否为必需字段
+        if hasattr(self._typed_dict_class, "__required_keys__"):
+            required_keys = getattr(self._typed_dict_class, "__required_keys__")
+            if field_name in required_keys:
+                type_info.add_constraint(
+                    ConstraintType.REQUIRED,
+                    True,
+                    "Field is required by TypedDict definition",
+                )
+
+        # 处理列表/数组类型
+        if isinstance(field_value, list):
+            type_info.is_array = True
+            # 可以进一步提取元素类型信息，但这需要更复杂的类型解析
+            # 暂时留给后续版本实现
+
+        # 处理字典/对象类型
+        elif isinstance(field_value, dict):
+            type_info.is_object = True
+            # 可以进一步提取对象字段信息，但这需要递归解析
+            # 暂时留给后续版本实现
+
+        return type_info

pyproject.toml

@@ -40,13 +40,17 @@ ros2 = [
 ]
 dev = [
     "pytest>=7.0.0",
-    "black>=22.0.0",
-    "isort>=5.0.0",
-    "mypy>=1.0.0",
+    "pytest-asyncio>=0.21.0",
+    "black>=23.0.0",
+    "isort>=5.13.0",
+    "flake8>=7.0.0",
+    "Flake8-pyproject>=1.2.0",
+    "mypy>=1.8.0",
     "types-jsonschema>=4.0.0",
     "types-PyYAML>=6.0.0",
-    "pre-commit>=2.20.0",
-    "bump2version>=1.0.0"
+    "bandit[toml]>=1.7.0",
+    "pre-commit>=3.5.0",
+    "bump-my-version>=0.28.0",
 ]
 docs = [
     "sphinx>=5.0.0",
@@ -70,14 +74,26 @@ include = ["msgcenterpy*"]
 [tool.setuptools.dynamic]
 version = {attr = "msgcenterpy.__version__"}
 
+# ── Formatting ────────────────────────────────────────────────
+
 [tool.black]
 line-length = 120
-target-version = ['py310', 'py311', 'py312']
+target-version = ["py310", "py311", "py312"]
 
 [tool.isort]
 profile = "black"
+line_length = 120
 multi_line_output = 3
 
+# ── Linting ───────────────────────────────────────────────────
+
+[tool.flake8]
+max-line-length = 200
+extend-ignore = ["E203", "W503", "W291", "W293", "W391", "F401", "E402", "E721", "F841", "F541"]
+exclude = ["build", "dist", "__pycache__", ".mypy_cache", ".pytest_cache", "htmlcov", ".vscode", "docs/_build", "msgcenterpy.egg-info"]
+
+# ── Type checking ─────────────────────────────────────────────
+
 [tool.mypy]
 python_version = "3.10"
 plugins = ["pydantic.mypy"]
@@ -86,8 +102,11 @@ warn_unused_configs = true
 disallow_untyped_defs = true
 no_implicit_optional = true
 warn_redundant_casts = true
-warn_unused_ignores = true
+warn_unused_ignores = false
 strict_equality = true
+ignore_missing_imports = true
+
+# ── Testing ───────────────────────────────────────────────────
 
 [tool.pytest.ini_options]
 testpaths = ["tests"]
@@ -95,12 +114,33 @@ python_files = "test_*.py"
 python_classes = "Test*"
 python_functions = "test_*"
 addopts = "-v --tb=short --strict-markers --strict-config -ra --color=yes"
-
 filterwarnings = [
     "ignore::DeprecationWarning",
-    "ignore::PendingDeprecationWarning"
+    "ignore::PendingDeprecationWarning",
 ]
 
+# ── Security ──────────────────────────────────────────────────
+
 [tool.bandit]
 exclude_dirs = ["tests", "build", "dist"]
 skips = ["B101", "B601"]
+
+# ── Version management ────────────────────────────────────────
+
+[tool.bumpversion]
+current_version = "0.1.8"
+commit = true
+tag = true
+push = true
+tag_name = "v{new_version}"
+message = "release: bump version {current_version} → {new_version}"
+
+[[tool.bumpversion.files]]
+filename = "pyproject.toml"
+search = 'current_version = "{current_version}"'
+replace = 'current_version = "{new_version}"'
+
+[[tool.bumpversion.files]]
+filename = "msgcenterpy/__init__.py"
+search = '__version__ = "{current_version}"'
+replace = '__version__ = "{new_version}"'

tests/test_json_schema_instance.py

@@ -432,6 +432,159 @@ class TestJSONSchemaValidation:
         assert len(invalid_instance._validation_errors) > 0
 
 
+class TestGenerateDefaultFromSchema:
+    """generate_default_from_schema 默认值生成测试"""
+
+    def test_basic_types(self):
+        """测试基础类型的零值生成"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "s": {"type": "string"},
+                "i": {"type": "integer"},
+                "n": {"type": "number"},
+                "b": {"type": "boolean"},
+                "null_field": {"type": "null"},
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {"s": "", "i": 0, "n": 0.0, "b": False, "null_field": None}
+
+    def test_explicit_default_takes_priority(self):
+        """测试显式 default 优先于类型零值"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "name": {"type": "string", "default": "anonymous"},
+                "age": {"type": "integer", "default": 18},
+                "score": {"type": "number", "default": 99.5},
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {"name": "anonymous", "age": 18, "score": 99.5}
+
+    def test_enum_uses_first_value(self):
+        """测试枚举类型使用第一个枚举值"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "status": {"type": "string", "enum": ["active", "inactive", "pending"]},
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {"status": "active"}
+
+    def test_const_value(self):
+        """测试 const 关键字"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "version": {"type": "string", "const": "v2"},
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {"version": "v2"}
+
+    def test_array_type(self):
+        """测试数组类型返回空列表"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "tags": {"type": "array", "items": {"type": "string"}},
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {"tags": []}
+
+    def test_nested_object(self):
+        """测试嵌套对象递归生成"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "user": {
+                    "type": "object",
+                    "properties": {
+                        "name": {"type": "string"},
+                        "address": {
+                            "type": "object",
+                            "properties": {
+                                "city": {"type": "string"},
+                                "zip": {"type": "integer"},
+                            },
+                        },
+                    },
+                },
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {
+            "user": {
+                "name": "",
+                "address": {"city": "", "zip": 0},
+            }
+        }
+
+    def test_union_type(self):
+        """测试联合类型取第一个非 null 类型"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "nullable_str": {"type": ["string", "null"]},
+                "nullable_int": {"type": ["null", "integer"]},
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {"nullable_str": "", "nullable_int": 0}
+
+    def test_no_type_field(self):
+        """测试缺少 type 定义时返回 None"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "unknown": {"description": "no type defined"},
+            },
+        }
+        result = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+
+        assert result == {"unknown": None}
+
+    def test_empty_schema(self):
+        """测试空 schema 返回空字典"""
+        result = JSONSchemaMessageInstance.generate_default_from_schema({})
+        assert result == {}
+
+        result2 = JSONSchemaMessageInstance.generate_default_from_schema({"type": "object"})
+        assert result2 == {}
+
+    def test_generated_default_creates_valid_instance(self):
+        """测试生成的默认值可以直接创建有效的实例"""
+        schema = {
+            "type": "object",
+            "properties": {
+                "name": {"type": "string"},
+                "count": {"type": "integer"},
+                "active": {"type": "boolean"},
+                "items": {"type": "array", "items": {"type": "string"}},
+                "meta": {
+                    "type": "object",
+                    "properties": {"version": {"type": "integer"}},
+                },
+            },
+        }
+        defaults = JSONSchemaMessageInstance.generate_default_from_schema(schema)
+        instance = JSONSchemaMessageInstance(defaults, schema)
+
+        assert len(instance._validation_errors) == 0
+        assert instance.get_python_dict() == defaults
+
+
 # 运行测试的便捷函数
 def run_json_schema_tests():
     """运行 JSON Schema 相关测试"""