fix component template path and add test case

Author: ipa-rwu

ros2model/api/model_generator/component_generator.py

@@ -18,25 +18,35 @@
 
 from ros2model.core.generator.generator_core import GeneratorCore
 import typing as t
-from ament_index_python import get_package_share_directory
 
 Template_Folder = Path(__file__).parent.parent.parent.parent.resolve() / "templates"
 Template = Path(Template_Folder / "component.ros2.j2")
 
-Template_Folder_ROS = Path(get_package_share_directory("ros2model") + "/templates")
-Template_ROS = Path(Template_Folder_ROS / "component.ros2.j2")
+
+try:
+    from ament_index_python import get_package_share_directory
+
+    Template_Folder_ROS = Path(get_package_share_directory("ros2model") + "/templates")
+    Template_ROS = Path(Template_Folder_ROS / "component.ros2.j2")
+except ImportError:
+    Template_ROS = None
 
 
 class ComponentGenerator(GeneratorCore):
     def __init__(self, template_path=None) -> None:
         if template_path != None:
             self.template_path = Path(template_path).resolve()
-        elif Template_ROS.is_file():
+        elif Template_ROS != None and Template_ROS.is_file():
             self.template_path = Template
         elif Template.is_file():
             self.template_path = Template
         else:
-            raise FileNotFoundError(
-                f"Can't find template either from {Template.absolute().as_posix()} or {Template_ROS.absolute().as_posix()}"
-            )
+            if Template_ROS != None:
+                raise FileNotFoundError(
+                    f"Can't find template either from {Template.absolute().as_posix()} or {Template_ROS.absolute().as_posix()}"
+                )
+            else:
+                raise FileNotFoundError(
+                    f"Can't find template either from {Template.absolute().as_posix()}"
+                )
         super().__init__(self.template_path, ".ros2")

test/outputs/test_model.ros2

@@ -0,0 +1,24 @@
+test_model:
+  artifacts:
+    map_server:
+      node: /map_server
+      publishers:
+        'map_metadata':
+          type: 'nav_msgs/msg/MapMetaData'
+        'map':
+          type: 'nav_msgs/msg/OccupancyGrid'
+      actionservers:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      actionclients:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      serviceservers:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      serviceclients:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      parameters:
+        'shadows/min_angle':
+          type: Double

test/unittest/test_generate_component.py

@@ -0,0 +1,100 @@
+import unittest
+from pathlib import Path
+
+from ros2model.api.model_generator.component_generator import ComponentGenerator
+from ros2model.core.metamodels.metamodel_ros import *
+
+test_model = Package(
+    name="test_model",
+    artifact=[
+        Artifact(
+            name="map_server",
+            node=[
+                Node(
+                    name=GraphName(
+                        name="map_server",
+                        namespace="/",
+                        full_name="/map_server",
+                    ),
+                    publisher=[
+                        Publisher(name="map_metadata", type="nav_msgs/msg/MapMetaData"),
+                        Publisher(name="map", type="nav_msgs/msg/OccupancyGrid"),
+                    ],
+                    serviceserver=[
+                        ServiceServer(name="static_map", type="nav_msgs/srv/GetMap")
+                    ],
+                    serviceclient=[
+                        ServiceClient(name="static_map", type="nav_msgs/srv/GetMap")
+                    ],
+                    actionclient=[
+                        ActionClient(name="static_map", type="nav_msgs/srv/GetMap")
+                    ],
+                    actionserver=[
+                        ActionServer(name="static_map", type="nav_msgs/srv/GetMap")
+                    ],
+                    parameter=[
+                        Parameter(
+                            name="shadows/min_angle", type="Double", value="-1.52"
+                        )
+                    ],
+                ),
+            ],
+        ),
+    ],
+)
+
+from devtools import pprint
+
+pprint(test_model)
+
+test_dir = "test"
+output_folder = "outputs"
+
+expect_result = """
+test_model:
+  artifacts:
+    map_server:
+      node: /map_server
+      publishers:
+        'map_metadata':
+          type: 'nav_msgs/msg/MapMetaData'
+        'map':
+          type: 'nav_msgs/msg/OccupancyGrid'
+      actionservers:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      actionclients:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      serviceservers:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      serviceclients:
+        'static_map':
+          type: 'nav_msgs/srv/GetMap'
+      parameters:
+        'shadows/min_angle':
+          type: Double
+
+"""
+
+
+class test_message_generator(unittest.TestCase):
+    def setUp(self) -> None:
+        self.generator = ComponentGenerator()
+        self.test_dir = Path(test_dir)
+        self.output_dir = Path(self.test_dir / output_folder)
+
+    def test_generate_pkg(self):
+        self.generator.generate_a_file(
+            model=test_model,
+            output_dir=self.output_dir,
+            filename=f"{test_model.name}",
+        )
+        with open(Path(self.output_dir / f"{test_model.name}.ros2"), "r") as file:
+            data = file.read()
+        self.assertEqual(expect_result.strip(), data.strip())
+
+
+if __name__ == "__main__":
+    unittest.main()