Adds some missing bindings for maliput plugin module. (#83)

Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>

src/bindings/plugin_py.cc

@@ -1,7 +1,7 @@
 // BSD 3-Clause License
 //
-// Copyright (c) 2022, Woven Planet. All rights reserved.
-// Copyright (c) 2020-2022, Toyota Research Institute. All rights reserved.
+// Copyright (c) 2023, Woven by Toyota.
+// All rights reserved.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
@@ -32,6 +32,7 @@
 #include <maliput/plugin/create_road_network.h>
 #include <maliput/plugin/maliput_plugin.h>
 #include <maliput/plugin/maliput_plugin_manager.h>
+#include <pybind11/operators.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
@@ -41,10 +42,21 @@ namespace bindings {
 namespace py = pybind11;
 
 PYBIND11_MODULE(plugin, m) {
- py::class_<plugin::MaliputPlugin>(m, "MaliputPlugin")
+ py::enum_<plugin::MaliputPluginType>(m, "MaliputPluginType")
+ .value("kRoadNetworkLoader", plugin::MaliputPluginType::kRoadNetworkLoader)
+ .export_values();
+
+ auto maliput_plugin_type = py::class_<plugin::MaliputPlugin>(m, "MaliputPlugin")
+ .def(py::init<std::string>())
+ .def("GetId", &plugin::MaliputPlugin::GetId)
+ .def("GetType", &plugin::MaliputPlugin::GetType);
+
+ py::class_<plugin::MaliputPlugin::Id>(maliput_plugin_type, "Id")
  .def(py::init<std::string>())
- .def("GetId", &plugin::MaliputPlugin::GetId)
- .def("GetType", &plugin::MaliputPlugin::GetType);
+ .def(py::detail::hash(py::self))
+ .def("string", &plugin::MaliputPlugin::Id::string)
+ .def("__eq__", &plugin::MaliputPlugin::Id::operator==)
+ .def("__repr__", [](const plugin::MaliputPlugin::Id& id) { return id.string(); });
 
  py::class_<plugin::MaliputPluginManager>(m, "MaliputPluginManager")
  .def(py::init<>())

test/CMakeLists.txt

@@ -2,4 +2,5 @@ find_package(ament_cmake_pytest REQUIRED)
 
 add_subdirectory(api)
 add_subdirectory(math)
+add_subdirectory(plugin)
 add_subdirectory(utility)

test/plugin/CMakeLists.txt

@@ -0,0 +1,9 @@
+# TODO(francocipollone): Improve this check by wrapping ament_add_pytest_test() function.
+# When sanitizers are activated python scripts are disabled.
+if (NOT ${SANITIZERS})
+ ament_add_pytest_test(plugin_pytest
+ plugin_test.py
+ # Avoid pytest from importing the module stub
+ WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+ )
+endif()

test/plugin/plugin_test.py

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+
+# BSD 3-Clause License
+#
+# Copyright (c) 2023, Woven by Toyota
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+"""Unit tests for the maliput::plugin python binding"""
+
+import unittest
+
+from maliput.plugin import (
+ MaliputPlugin,
+ MaliputPluginManager,
+ MaliputPluginType,
+)
+
+
+class TestMaliputPlugin(unittest.TestCase):
+ """
+ Evaluates the maliput.plugin bindings for concrete classes or structs.
+ """
+
+ def test_plugin_entities(self):
+ """
+ Tests the maliput.plugin module entities.
+ """
+ import maliput.plugin
+ dut_type_entities = dir(maliput.plugin)
+ self.assertTrue('MaliputPluginType' in dut_type_entities)
+ self.assertTrue('MaliputPluginManager' in dut_type_entities)
+ self.assertTrue('MaliputPlugin' in dut_type_entities)
+ self.assertTrue('create_road_network' in dut_type_entities)
+
+ def test_maliput_plugin_id(self):
+ """
+ Tests the MaliputPlugin::Id class methods.
+ """
+ dut = MaliputPlugin.Id('test_id')
+ self.assertEqual(dut.string(), 'test_id')
+ self.assertEqual(dut, dut)
+ self.assertNotEqual(dut, MaliputPlugin.Id('test_id2'))
+
+ def test_maliput_plugin_methods(self):
+ """
+ Tests the MaliputPlugin class methods.
+ """
+ dut_type_methods = dir(MaliputPlugin)
+ self.assertTrue('GetId' in dut_type_methods)
+ self.assertTrue('GetType' in dut_type_methods)
+
+ def test_maliput_plugin_manager_methods(self):
+ """
+ Tests the MaliputPluginManager class methods.
+ """
+ dut_type_methods = dir(MaliputPluginManager)
+ self.assertTrue('GetPlugin' in dut_type_methods)
+ self.assertTrue('AddPlugin' in dut_type_methods)
+ self.assertTrue('ListPlugins' in dut_type_methods)
+
+ def test_maliput_plugin_type(self):
+ """
+ Tests the MaliputPluginType enum.
+ """
+ self.assertEqual(MaliputPluginType.kRoadNetworkLoader, MaliputPluginType.kRoadNetworkLoader)