"""
Basic unit tests for navigation tools (no ROS2/Nav2 required).
Tests code structure, schemas, and MCP integration without
requiring full Nav2 stack or Gazebo.
"""
import pytest
import sys
from pathlib import Path
class TestNavigationToolsStructure:
"""Test navigation tools module structure."""
def test_navigation_tools_file_exists(self):
"""Test navigation_tools.py file exists."""
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
assert tools_path.exists(), "navigation_tools.py should exist"
def test_navigation_tools_has_expected_functions(self):
"""Test navigation_tools.py contains expected function definitions."""
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
content = tools_path.read_text()
# Check function definitions exist
assert "def spawn_turtlebot3(" in content
assert "def send_nav2_goal(" in content
assert "def get_navigation_status(" in content
assert "def cancel_navigation(" in content
assert "def set_initial_pose(" in content
def test_navigation_tools_has_docstrings(self):
"""Test functions have docstrings."""
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
content = tools_path.read_text()
# Check docstrings exist
assert '"""' in content or "'''" in content
assert "Spawn TurtleBot3" in content
assert "Send navigation goal" in content or "autonomous navigation" in content
def test_navigation_tools_uses_operation_result(self):
"""Test functions return OperationResult."""
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
content = tools_path.read_text()
assert "OperationResult" in content
assert "success_result" in content
assert "error_result" in content
class TestMCPAdapterStructure:
"""Test MCP adapter structure."""
def test_adapter_file_exists(self):
"""Test navigation_tools_adapter.py exists."""
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
assert adapter_path.exists(), "navigation_tools_adapter.py should exist"
def test_adapter_has_get_tools(self):
"""Test adapter has get_tools function."""
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
content = adapter_path.read_text()
assert "def get_tools()" in content
assert "MCPTool" in content
def test_adapter_defines_5_tools(self):
"""Test adapter defines 5 navigation tools."""
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
content = adapter_path.read_text()
# Count tool definitions
assert content.count("MCPTool(") >= 5
def test_adapter_has_tool_names(self):
"""Test adapter defines all expected tool names."""
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
content = adapter_path.read_text()
expected_tools = [
"spawn_turtlebot3",
"send_nav2_goal",
"get_navigation_status",
"cancel_navigation",
"set_initial_pose"
]
for tool in expected_tools:
assert tool in content, f"Tool {tool} should be defined in adapter"
def test_adapter_has_descriptions(self):
"""Test tools have descriptions for Claude."""
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
content = adapter_path.read_text()
# Check for detailed descriptions
assert "description=" in content
assert "TurtleBot3" in content
assert "Nav2" in content or "navigation" in content
def test_adapter_has_parameter_schemas(self):
"""Test tools have parameter schemas."""
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
content = adapter_path.read_text()
assert "parameters={" in content
assert '"properties"' in content
assert '"required"' in content
class TestMCPServerIntegration:
"""Test MCP server integration."""
def test_adapter_imported_in_init(self):
"""Test navigation_tools_adapter imported in adapters/__init__.py."""
init_path = Path("mcp/server/adapters/__init__.py")
content = init_path.read_text()
assert "navigation_tools_adapter" in content
def test_adapter_in_all_exports(self):
"""Test navigation_tools_adapter in __all__."""
init_path = Path("mcp/server/adapters/__init__.py")
content = init_path.read_text()
assert '"navigation_tools_adapter"' in content or "'navigation_tools_adapter'" in content
def test_server_imports_adapter(self):
"""Test server.py imports navigation_tools_adapter."""
server_path = Path("mcp/server/server.py")
content = server_path.read_text()
assert "navigation_tools_adapter" in content
def test_server_registers_adapter(self):
"""Test server registers navigation_tools_adapter."""
server_path = Path("mcp/server/server.py")
content = server_path.read_text()
# Should be in adapters list
assert "navigation_tools_adapter" in content
class TestSetupScripts:
"""Test setup scripts exist and are executable."""
def test_install_script_exists(self):
"""Test install_turtlebot3.sh exists."""
script_path = Path("demos/02_obstacle_course/install_turtlebot3.sh")
assert script_path.exists()
def test_install_script_executable(self):
"""Test install_turtlebot3.sh is executable."""
script_path = Path("demos/02_obstacle_course/install_turtlebot3.sh")
import os
assert os.access(script_path, os.X_OK), "Script should be executable"
def test_install_script_content(self):
"""Test install script has expected content."""
script_path = Path("demos/02_obstacle_course/install_turtlebot3.sh")
content = script_path.read_text()
assert "turtlebot3" in content.lower()
assert "nav2" in content.lower()
assert "apt install" in content
def test_launch_nav2_script_exists(self):
"""Test launch_nav2.sh exists."""
script_path = Path("demos/02_obstacle_course/launch_nav2.sh")
assert script_path.exists()
def test_launch_nav2_script_executable(self):
"""Test launch_nav2.sh is executable."""
script_path = Path("demos/02_obstacle_course/launch_nav2.sh")
import os
assert os.access(script_path, os.X_OK), "Script should be executable"
class TestConfiguration:
"""Test configuration files."""
def test_nav2_params_exists(self):
"""Test nav2_params.yaml exists."""
config_path = Path("demos/02_obstacle_course/nav2_params.yaml")
assert config_path.exists()
def test_nav2_params_content(self):
"""Test nav2_params.yaml has expected content."""
config_path = Path("demos/02_obstacle_course/nav2_params.yaml")
content = config_path.read_text()
# Check key Nav2 components
assert "controller_server" in content
assert "planner_server" in content
assert "bt_navigator" in content or "behavior_server" in content
def test_demo_config_updated(self):
"""Test demo config.yaml updated for Nav2."""
config_path = Path("demos/02_obstacle_course/config.yaml")
content = config_path.read_text()
assert "turtlebot3" in content.lower()
assert "nav2" in content.lower() or "navigation" in content.lower()
def test_demo_config_has_waypoints(self):
"""Test demo config has waypoint definitions."""
config_path = Path("demos/02_obstacle_course/config.yaml")
content = config_path.read_text()
assert "waypoint" in content.lower()
# Should have multiple waypoints
assert content.lower().count("waypoint") >= 3
class TestDocumentation:
"""Test documentation files."""
def test_conversational_demo_exists(self):
"""Test CONVERSATIONAL_DEMO.md exists."""
doc_path = Path("demos/02_obstacle_course/CONVERSATIONAL_DEMO.md")
assert doc_path.exists()
def test_conversational_demo_content(self):
"""Test CONVERSATIONAL_DEMO.md has expected content."""
doc_path = Path("demos/02_obstacle_course/CONVERSATIONAL_DEMO.md")
content = doc_path.read_text()
# Should explain natural language usage
assert "natural language" in content.lower() or "conversational" in content.lower()
assert "claude" in content.lower()
assert "spawn" in content.lower()
assert "navigate" in content.lower()
def test_conversational_demo_has_examples(self):
"""Test CONVERSATIONAL_DEMO.md has usage examples."""
doc_path = Path("demos/02_obstacle_course/CONVERSATIONAL_DEMO.md")
content = doc_path.read_text()
# Should have example conversations
assert "you say" in content.lower() or "you:" in content.lower()
assert "example" in content.lower()
def test_readme_updated(self):
"""Test README.md updated with v2.0 info."""
readme_path = Path("demos/02_obstacle_course/README.md")
content = readme_path.read_text()
assert "v2" in content.lower() or "version 2" in content.lower()
assert "nav2" in content.lower() or "autonomous" in content.lower()
def test_implementation_complete_exists(self):
"""Test IMPLEMENTATION_COMPLETE.md exists."""
doc_path = Path("demos/02_obstacle_course/IMPLEMENTATION_COMPLETE.md")
assert doc_path.exists()
class TestCodeQuality:
"""Test code quality and patterns."""
def test_navigation_tools_imports(self):
"""Test navigation_tools.py has proper imports."""
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
content = tools_path.read_text()
# Should import utilities
assert "from gazebo_mcp.utils import" in content
assert "OperationResult" in content
# Should have type hints
assert "from typing import" in content or "Tuple" in content or "Dict" in content
def test_navigation_tools_error_handling(self):
"""Test navigation_tools.py has error handling."""
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
content = tools_path.read_text()
# Should have try/except blocks
assert "try:" in content
assert "except" in content
# Should use error_result
assert "error_result" in content
def test_navigation_tools_logging(self):
"""Test navigation_tools.py has logging."""
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
content = tools_path.read_text()
# Should use logger
assert "logger" in content.lower() or "_logger" in content
def test_adapter_follows_pattern(self):
"""Test adapter follows existing MCP adapter pattern."""
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
content = adapter_path.read_text()
# Should follow dataclass pattern
assert "@dataclass" in content or "class MCPTool" in content
# Should have get_tools function
assert "def get_tools()" in content
assert "-> List[MCPTool]" in content or "List[MCPTool]" in content
class TestIntegrationReadiness:
"""Test implementation is ready for integration."""
def test_all_files_created(self):
"""Test all expected files were created."""
expected_files = [
"src/gazebo_mcp/tools/navigation_tools.py",
"mcp/server/adapters/navigation_tools_adapter.py",
"demos/02_obstacle_course/install_turtlebot3.sh",
"demos/02_obstacle_course/nav2_params.yaml",
"demos/02_obstacle_course/launch_nav2.sh",
"demos/02_obstacle_course/CONVERSATIONAL_DEMO.md",
"demos/02_obstacle_course/IMPLEMENTATION_COMPLETE.md",
"tests/integration/test_navigation_tools.py",
]
for file_path in expected_files:
assert Path(file_path).exists(), f"Expected file {file_path} should exist"
def test_no_syntax_errors(self):
"""Test Python files have no syntax errors."""
python_files = [
"src/gazebo_mcp/tools/navigation_tools.py",
"mcp/server/adapters/navigation_tools_adapter.py",
"tests/integration/test_navigation_tools.py",
]
import ast
for file_path in python_files:
content = Path(file_path).read_text()
try:
ast.parse(content)
except SyntaxError as e:
pytest.fail(f"Syntax error in {file_path}: {e}")
def test_consistent_naming(self):
"""Test consistent naming across files."""
# Tool names should be consistent
tools_path = Path("src/gazebo_mcp/tools/navigation_tools.py")
adapter_path = Path("mcp/server/adapters/navigation_tools_adapter.py")
tools_content = tools_path.read_text()
adapter_content = adapter_path.read_text()
tool_names = [
"spawn_turtlebot3",
"send_nav2_goal",
"get_navigation_status",
"cancel_navigation",
"set_initial_pose"
]
for tool_name in tool_names:
assert f"def {tool_name}(" in tools_content, f"Function {tool_name} should be defined"
assert f'"{tool_name}"' in adapter_content or f"'{tool_name}'" in adapter_content, \
f"Tool name {tool_name} should be in adapter"
if __name__ == "__main__":
pytest.main([__file__, "-v", "--tb=short"])
