"""
Pytest configuration and fixtures for Gazebo MCP tests.
Provides common fixtures for testing with/without Gazebo.
"""
import pytest
import os
import sys
from pathlib import Path
# Add project root to path:
PROJECT_ROOT = Path(__file__).parent.parent
sys.path.insert(0, str(PROJECT_ROOT / "src"))
# Add claude project to path for ResultFilter:
# Use environment variable or relative path from project root
CLAUDE_ROOT = Path(os.environ.get("CLAUDE_ROOT", Path(__file__).parent.parent / "claude"))
if CLAUDE_ROOT.exists():
sys.path.insert(0, str(CLAUDE_ROOT))
def pytest_addoption(parser):
"""Add custom command-line options."""
parser.addoption(
"--with-gazebo",
action="store_true",
default=False,
help="Run tests that require Gazebo to be running"
)
parser.addoption(
"--with-ros2",
action="store_true",
default=False,
help="Run tests that require ROS2 to be sourced"
)
def pytest_configure(config):
"""Configure pytest."""
config.addinivalue_line(
"markers", "gazebo: mark test as requiring Gazebo"
)
config.addinivalue_line(
"markers", "ros2: mark test as requiring ROS2"
)
config.addinivalue_line(
"markers", "slow: mark test as slow"
)
def pytest_collection_modifyitems(config, items):
"""Skip tests based on markers."""
skip_gazebo = pytest.mark.skip(reason="need --with-gazebo option to run")
skip_ros2 = pytest.mark.skip(reason="need --with-ros2 option to run")
for item in items:
if "gazebo" in item.keywords and not config.getoption("--with-gazebo"):
item.add_marker(skip_gazebo)
if "ros2" in item.keywords and not config.getoption("--with-ros2"):
item.add_marker(skip_ros2)
@pytest.fixture
def gazebo_available():
"""Check if Gazebo is available."""
try:
import rclpy
from gazebo_msgs.srv import SpawnEntity
return True
except ImportError:
return False
@pytest.fixture
def ros2_available():
"""Check if ROS2 is available."""
try:
import rclpy
return True
except ImportError:
return False
@pytest.fixture(scope="session")
def cleanup_ros2():
"""Cleanup ROS2 after all tests."""
yield
# Cleanup:
try:
import rclpy
if rclpy.ok():
rclpy.shutdown()
except Exception:
pass
