mirror of
https://github.com/deepmodeling/Uni-Lab-OS
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80272d691d
- test_pump_separate_full_chain: PumpTransfer和Separate全链路测试， 验证bug修复后separate不再crash - test_full_chain_conversion_to_compile: HeatChill/Add协议结构验证 - test_resource_conversion_path: ResourceDictInstance转换路径测试 - test_batch_transfer_protocol: AGV批量转运编译器测试 - test_agv_transport_station: AGV工作站设备测试 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
325 lines
11 KiB
Python
325 lines
11 KiB
Python
"""
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ROS Goal → Resource 转换 → 编译器路径的集成测试
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覆盖：
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1. Resource.msg 新字段(uuid, klass, extra)的往返转换
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2. dict → ROS Resource → dict 往返无损
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3. ResourceTreeSet → get_plr_nested_dict 保留 children 结构
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4. resource_helper 兼容 dict / ResourceDictInstance
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5. vessel_parser.get_vessel 兼容 ResourceDictInstance
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"""
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import json
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import pytest
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# 不依赖 ROS 的测试 —— 直接测试 resource 处理路径
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from unilabos.resources.resource_tracker import (
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ResourceDict,
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ResourceDictInstance,
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ResourceTreeInstance,
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ResourceTreeSet,
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)
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from unilabos.compile.utils.resource_helper import (
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ensure_resource_instance,
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resource_to_dict,
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get_resource_id,
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get_resource_data,
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get_resource_display_info,
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get_resource_liquid_volume,
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)
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from unilabos.compile.utils.vessel_parser import get_vessel
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# ============ 构建测试数据 ============
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def _make_resource_dict(
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id="reactor_01",
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uuid="uuid-reactor-01",
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name="reactor_01",
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klass="virtual_stirrer",
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type_="device",
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parent=None,
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parent_uuid=None,
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data=None,
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config=None,
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extra=None,
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):
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return {
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"id": id,
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"uuid": uuid,
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"name": name,
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"class": klass,
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"type": type_,
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"parent": parent,
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"parent_uuid": parent_uuid or "",
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"description": "",
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"config": config or {},
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"data": data or {},
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"extra": extra or {},
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"position": {"x": 1.0, "y": 2.0, "z": 3.0},
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}
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def _make_resource_instance(id="reactor_01", **kwargs):
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d = _make_resource_dict(id=id, **kwargs)
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return ResourceDictInstance.get_resource_instance_from_dict(d)
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def _make_tree_with_children():
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"""构建 StationA -> [R1, R2] 的资源树"""
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raw_data = [
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_make_resource_dict(
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id="StationA",
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uuid="uuid-station-a",
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name="StationA",
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klass="workstation",
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type_="device",
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),
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_make_resource_dict(
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id="R1",
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uuid="uuid-r1",
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name="R1",
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klass="",
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type_="resource",
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parent="StationA",
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parent_uuid="uuid-station-a",
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data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
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),
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_make_resource_dict(
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id="R2",
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uuid="uuid-r2",
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name="R2",
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klass="",
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type_="resource",
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parent="StationA",
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parent_uuid="uuid-station-a",
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data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
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),
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]
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tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
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return tree_set
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# ============ resource_helper 测试 ============
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class TestResourceHelper:
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"""测试 resource_helper 对 dict / ResourceDictInstance 的兼容性"""
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def test_ensure_resource_instance_from_dict(self):
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d = _make_resource_dict()
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inst = ensure_resource_instance(d)
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assert isinstance(inst, ResourceDictInstance)
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assert inst.res_content.id == "reactor_01"
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assert inst.res_content.uuid == "uuid-reactor-01"
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def test_ensure_resource_instance_passthrough(self):
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inst = _make_resource_instance()
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result = ensure_resource_instance(inst)
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assert result is inst # 同一个对象，不复制
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def test_ensure_resource_instance_none(self):
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assert ensure_resource_instance(None) is None
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def test_get_resource_id_from_dict(self):
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d = _make_resource_dict(id="my_device")
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assert get_resource_id(d) == "my_device"
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def test_get_resource_id_from_instance(self):
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inst = _make_resource_instance(id="my_device")
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assert get_resource_id(inst) == "my_device"
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def test_get_resource_id_from_string(self):
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assert get_resource_id("my_device") == "my_device"
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def test_get_resource_id_from_wrapped_dict(self):
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"""兼容 {station_id: {...}} 格式"""
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d = {"StationA": {"id": "StationA", "name": "StationA"}}
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assert get_resource_id(d) == "StationA"
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def test_get_resource_data_from_dict(self):
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d = _make_resource_dict(data={"temperature": 25.0})
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assert get_resource_data(d) == {"temperature": 25.0}
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def test_get_resource_data_from_instance(self):
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inst = _make_resource_instance(data={"temperature": 25.0})
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data = get_resource_data(inst)
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assert data["temperature"] == 25.0
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def test_get_resource_display_info_from_dict(self):
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d = _make_resource_dict(id="reactor_01", name="Reactor #1")
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info = get_resource_display_info(d)
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assert "reactor_01" in info
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assert "Reactor #1" in info
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def test_get_resource_display_info_from_instance(self):
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inst = _make_resource_instance(id="reactor_01", name="Reactor #1")
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info = get_resource_display_info(inst)
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assert "reactor_01" in info
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def test_get_resource_display_info_from_string(self):
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assert get_resource_display_info("reactor_01") == "reactor_01"
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def test_get_resource_liquid_volume(self):
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d = _make_resource_dict(data={"liquid": [{"liquid_type": "water", "volume": 15.5}]})
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assert get_resource_liquid_volume(d) == pytest.approx(15.5)
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def test_resource_to_dict_from_instance(self):
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inst = _make_resource_instance(id="reactor_01", klass="virtual_stirrer")
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d = resource_to_dict(inst)
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assert isinstance(d, dict)
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assert d["id"] == "reactor_01"
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assert d["class"] == "virtual_stirrer"
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def test_resource_to_dict_passthrough(self):
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d = _make_resource_dict()
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result = resource_to_dict(d)
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assert result is d # 同一个 dict
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# ============ vessel_parser 兼容性测试 ============
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class TestVesselParser:
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"""测试 vessel_parser.get_vessel 对 ResourceDictInstance 的兼容"""
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def test_get_vessel_from_dict(self):
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d = _make_resource_dict(id="reactor_01", data={"temperature": 25.0})
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vessel_id, vessel_data = get_vessel(d)
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assert vessel_id == "reactor_01"
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assert vessel_data["temperature"] == 25.0
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def test_get_vessel_from_string(self):
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vessel_id, vessel_data = get_vessel("reactor_01")
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assert vessel_id == "reactor_01"
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assert vessel_data == {}
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def test_get_vessel_from_resource_instance(self):
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inst = _make_resource_instance(id="reactor_01", data={"temperature": 25.0})
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vessel_id, vessel_data = get_vessel(inst)
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assert vessel_id == "reactor_01"
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assert vessel_data["temperature"] == 25.0
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def test_get_vessel_from_wrapped_dict(self):
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"""兼容 {station_id: {id: ..., data: {...}}} 格式"""
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d = {"StationA": {"id": "StationA", "data": {"vol": 100}}}
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vessel_id, vessel_data = get_vessel(d)
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assert vessel_id == "StationA"
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# ============ ResourceTreeSet → get_plr_nested_dict 测试 ============
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class TestResourceTreeRoundTrip:
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"""测试 ResourceTreeSet → get_plr_nested_dict 保留树结构和关键字段"""
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def test_tree_preserves_children(self):
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tree_set = _make_tree_with_children()
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assert len(tree_set.trees) == 1
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root = tree_set.trees[0].root_node
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assert root.res_content.id == "StationA"
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assert len(root.children) == 2
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def test_plr_nested_dict_has_children(self):
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tree_set = _make_tree_with_children()
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root = tree_set.trees[0].root_node
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nested = root.get_plr_nested_dict()
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assert isinstance(nested, dict)
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assert "children" in nested
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assert isinstance(nested["children"], dict)
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assert "R1" in nested["children"]
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assert "R2" in nested["children"]
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def test_plr_nested_dict_preserves_uuid(self):
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tree_set = _make_tree_with_children()
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root = tree_set.trees[0].root_node
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nested = root.get_plr_nested_dict()
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assert nested["uuid"] == "uuid-station-a"
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assert nested["children"]["R1"]["uuid"] == "uuid-r1"
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def test_plr_nested_dict_preserves_klass(self):
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tree_set = _make_tree_with_children()
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root = tree_set.trees[0].root_node
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nested = root.get_plr_nested_dict()
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assert nested["class"] == "workstation"
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def test_plr_nested_dict_preserves_data(self):
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tree_set = _make_tree_with_children()
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root = tree_set.trees[0].root_node
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nested = root.get_plr_nested_dict()
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r1_data = nested["children"]["R1"]["data"]
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assert "liquid" in r1_data
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assert r1_data["liquid"][0]["volume"] == 10.0
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def test_plr_nested_dict_usable_by_get_vessel(self):
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"""get_plr_nested_dict 的结果可以直接传给 get_vessel"""
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tree_set = _make_tree_with_children()
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root = tree_set.trees[0].root_node
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nested = root.get_plr_nested_dict()
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vessel_id, vessel_data = get_vessel(nested)
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assert vessel_id == "StationA"
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def test_dump_vs_plr_nested_dict(self):
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"""dump() 是扁平化的，get_plr_nested_dict 保留树结构"""
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tree_set = _make_tree_with_children()
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# dump 返回扁平列表
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dumped = tree_set.dump()
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assert isinstance(dumped[0], list)
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assert len(dumped[0]) == 3 # StationA + R1 + R2，全部扁平
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# get_plr_nested_dict 保留嵌套
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root = tree_set.trees[0].root_node
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nested = root.get_plr_nested_dict()
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assert isinstance(nested["children"], dict)
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assert len(nested["children"]) == 2 # 嵌套的 children
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# ============ 模拟 workstation 路径测试 ============
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class TestWorkstationPath:
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"""模拟 workstation.py 中的关键路径:
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raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → compiler
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"""
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def test_single_resource_path(self):
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"""单个 Resource: 取第一棵树的根节点"""
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raw_data = [
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_make_resource_dict(id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer"),
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]
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tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
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root = tree_set.trees[0].root_node
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result = root.get_plr_nested_dict()
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assert result["id"] == "reactor_01"
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assert result["uuid"] == "uuid-r01"
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assert result["class"] == "virtual_stirrer"
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def test_resource_with_children_path(self):
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"""Resource 带 children: AGV/batch transfer 场景"""
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tree_set = _make_tree_with_children()
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root = tree_set.trees[0].root_node
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nested = root.get_plr_nested_dict()
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# 模拟编译器接收到的参数
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from_repo = {"StationA": nested}
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assert "A01" not in from_repo["StationA"]["children"] # children 按 id 索引
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assert "R1" in from_repo["StationA"]["children"]
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assert from_repo["StationA"]["children"]["R1"]["uuid"] == "uuid-r1"
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def test_multiple_resource_path(self):
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"""多个 Resource: 每棵树取根节点"""
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raw_data1 = [_make_resource_dict(id="R1", uuid="uuid-r1")]
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raw_data2 = [_make_resource_dict(id="R2", uuid="uuid-r2")]
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# 模拟 host 返回多棵树
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tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
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tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
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results = [
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tree.root_node.get_plr_nested_dict()
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for ts in [tree_set1, tree_set2]
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for tree in ts.trees
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]
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assert len(results) == 2
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assert results[0]["id"] == "R1"
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assert results[1]["id"] == "R2"
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