test Add multiple test

- group test that test setup_up function via parametrization
- add some config file file dor nested parameter map
- add a test about get_dynamic_mapped_parameter

Author: Nick Laurenson

generate_parameter_library_py/generate_parameter_library_py/test/YAML_parse_error_test.py

@@ -21,7 +21,7 @@
 from generate_parameter_library_py.generate_cpp_header import run as run_cpp
 from generate_parameter_library_py.generate_python_module import run as run_python
 from generate_parameter_library_py.generate_markdown import run as run_md
-from generate_parameter_library_py.parse_yaml import YAMLSyntaxError
+from generate_parameter_library_py.parse_yaml import YAMLSyntaxError, get_dynamic_mapped_parameter
 from generate_parameter_library_py.generate_cpp_header import parse_args
 
 
@@ -86,17 +86,43 @@ def test_expected(test_input, expected):
     print(e.value)
 
 
-def test_parse_valid_parameter_file():
+@pytest.mark.parametrize(
+    "yaml_test_file",
+    [
+        ("valid_parameters.yaml"),
+        ("valid_parameters_with_none_type.yaml"),
+        ("nested_map_test.yaml"),
+        ("nested_map_keys.yaml"),
+    ],
+)
+def test_parse_valid_parameter_files(yaml_test_file):
     try:
-        yaml_test_file = 'valid_parameters.yaml'
         set_up(yaml_test_file)
     except Exception as e:
         assert False, f'failed to parse valid file, reason:{e}'
 
-
-def test_parse_valid_parameter_file_including_none_type():
-    try:
-        yaml_test_file = 'valid_parameters_with_none_type.yaml'
-        set_up(yaml_test_file)
-    except Exception as e:
-        assert False, f'failed to parse valid file, reason:{e}'
+@pytest.mark.parametrize(
+    "param_name,declared_params,expected",
+    [
+        # entries is inside nested -> resolve to nested.entries
+        ("nested.__map_entries.value", {"nested.entries"}, ["nested.entries"]),
+        # items is inside level1.level2 -> resolve to level1.level2.items
+        ("level1.level2.__map_items.param", {"level1.level2.items"}, ["level1.level2.items"]),
+        # keys is at root -> resolve to bare name
+        ("__map_keys.value", {"keys"}, ["keys"]),
+        # multi-level maps with keys at root -> all bare names
+        (
+            "__map_level1.__map_level2.__map_level3.value",
+            {"level1", "level2", "level3"},
+            ["level1", "level2", "level3"],
+        ),
+        # keys at root but __map_ inside a struct (like pid.__map_joints)
+        ("pid.__map_joints.p", {"joints"}, ["joints"]),
+        # nested struct with keys at root (like nested_dynamic.__map_joints)
+        ("nested_dynamic.__map_joints.__map_dof_names.nested", {"joints", "dof_names"}, ["joints", "dof_names"]),
+    ],
+)
+def test_get_dynamic_mapped_parameter_nested(param_name, declared_params, expected):
+    """Test that get_dynamic_mapped_parameter returns correct paths for nested maps."""
+    result = get_dynamic_mapped_parameter(param_name, declared_params)
+    assert result == expected

generate_parameter_library_py/generate_parameter_library_py/test/nested_map_keys.yaml

@@ -0,0 +1,12 @@
+nested_map_test:
+  nested:
+    entries:
+      type: string_array
+      default_value: ["entry1", "entry2"]
+      description: "Keys for the nested mapped parameters"
+
+    __map_entries:
+      value:
+        type: double
+        default_value: 1.0
+        description: "A value in the nested map"

generate_parameter_library_py/generate_parameter_library_py/test/nested_map_test.yaml

@@ -0,0 +1,8 @@
+# Test nested mapped parameters for get_dynamic_mapped_parameter
+nested_map_test:
+  __map_outer:
+    __map_inner:
+      value:
+        type: double
+        default_value: 1.23
+        description: "A deeply nested mapped parameter."

generate_parameter_library_py/setup.py

@@ -63,6 +63,14 @@
             'share/' + package_name + '/test',
             ['generate_parameter_library_py/test/valid_parameters_with_none_type.yaml'],
         ),
+        (
+            'share/' + package_name + '/test',
+            ['generate_parameter_library_py/test/nested_map_test.yaml'],
+        ),
+        (
+            'share/' + package_name + '/test',
+            ['generate_parameter_library_py/test/nested_map_keys.yaml'],
+        ),
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
     ],
     install_requires=['setuptools', 'typeguard', 'jinja2', 'pyyaml'],