ccg-ros2-workflow 2.2.1 → 3.0.0

package/templates/skills/domains/development/python.md

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+---
+name: python
+description: Python 开发(含 ROS2 Python 节点)。Web框架、数据处理、自动化脚本、ROS2 Python 节点、Launch 文件。当用户提到 Python、Django、Flask、FastAPI、pytest、pandas、rclpy、launch 时使用。
+---
+
+# Python 开发(ROS2 增强版)
+
+## ROS2 Python 开发上下文(上层应用核心)
+
+ROS2 项目中,Python 节点承担**上层应用**职责:Launch 文件、参数配置、可视化、仿真、状态机编排。
+
+### rclpy 核心模式
+
+```python
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
+from sensor_msgs.msg import LaserScan
+from geometry_msgs.msg import Twist
+
+
+class NavigationNode(Node):
+    def __init__(self):
+        super().__init__('navigation_node')
+
+        # QoS 策略
+        sensor_qos = QoSProfile(
+            reliability=ReliabilityPolicy.BEST_EFFORT,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=10
+        )
+
+        # 订阅传感器
+        self.scan_sub = self.create_subscription(
+            LaserScan, '/scan', self.scan_callback, sensor_qos)
+
+        # 发布控制指令
+        self.cmd_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+        # 参数声明
+        self.declare_parameter('max_speed', 1.0)
+        self.declare_parameter('safe_distance', 0.5)
+
+    def scan_callback(self, msg: LaserScan):
+        max_speed = self.get_parameter('max_speed').value
+        # 处理逻辑
+        cmd = Twist()
+        cmd.linear.x = max_speed
+        self.cmd_pub.publish(cmd)
+
+
+def main():
+    rclpy.init()
+    node = NavigationNode()
+    try:
+        rclpy.spin(node)
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
+```
+
+### Launch 文件标准模板
+
+```python
+# launch/navigation.launch.py
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+    params_file = PathJoinSubstitution([
+        FindPackageShare('my_robot'), 'config', 'params.yaml'
+    ])
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation clock'),
+
+        Node(
+            package='my_robot',
+            executable='navigation_node',
+            name='navigation',
+            parameters=[params_file, {'use_sim_time': use_sim_time}],
+            remappings=[('/scan', '/lidar/scan')],
+            output='screen',
+        ),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                FindPackageShare('nav2_bringup'),
+                '/launch/navigation_launch.py'
+            ])
+        ),
+    ])
+```
+
+### setup.py 标准模板
+
+```python
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'my_robot'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'),
+            glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'config'),
+            glob('config/*.yaml')),
+        (os.path.join('share', package_name, 'rviz'),
+            glob('rviz/*.rviz')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    entry_points={
+        'console_scripts': [
+            'navigation_node = my_robot.navigation_node:main',
+        ],
+    },
+)
+```
+
+### 参数 YAML 配置
+
+```yaml
+# config/params.yaml
+navigation:
+  ros__parameters:
+    max_speed: 1.0
+    safe_distance: 0.5
+    update_rate: 50.0
+    frame_id: "base_link"
+    use_sim_time: false
+```
+
+### ROS2 Python 测试 (launch_testing)
+
+```python
+import unittest
+import launch_testing
+import pytest
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    return LaunchDescription([
+        Node(
+            package='my_robot',
+            executable='navigation_node',
+        ),
+        launch_testing.actions.ReadyToTest(),
+    ])
+
+
+class TestNavigation(unittest.TestCase):
+    def test_node_starts(self, proc_info):
+        proc_info.assertWaitForStartup(timeout=10)
+```
+
+### 仿真集成(Gazebo)
+
+```python
+# launch/simulation.launch.py
+def generate_launch_description():
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                FindPackageShare('gazebo_ros'),
+                '/launch/gazebo.launch.py'
+            ])
+        ),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[{'robot_description': robot_description}],
+        ),
+    ])
+```
+
+---
+
+## 通用 Python 知识(以下保持原样)
+
+# 📜 符箓秘典 · Python
+
+
+## Web 框架
+
+### FastAPI (推荐)
+```python
+from fastapi import FastAPI, HTTPException, Depends
+from pydantic import BaseModel
+from typing import Optional
+
+app = FastAPI()
+
+class User(BaseModel):
+    name: str
+    email: str
+    age: Optional[int] = None
+
+@app.get("/users/{user_id}")
+async def get_user(user_id: int):
+    return {"user_id": user_id}
+
+@app.post("/users")
+async def create_user(user: User):
+    return user
+
+# 依赖注入
+async def get_db():
+    db = Database()
+    try:
+        yield db
+    finally:
+        await db.close()
+
+@app.get("/items")
+async def get_items(db = Depends(get_db)):
+    return await db.fetch_all("SELECT * FROM items")
+```
+
+### Flask
+```python
+from flask import Flask, request, jsonify
+
+app = Flask(__name__)
+
+@app.route('/api/users', methods=['GET', 'POST'])
+def users():
+    if request.method == 'POST':
+        data = request.json
+        return jsonify(data), 201
+    return jsonify([])
+
+@app.errorhandler(404)
+def not_found(e):
+    return jsonify(error="Not found"), 404
+```
+
+### Django
+```python
+# models.py
+from django.db import models
+
+class User(models.Model):
+    name = models.CharField(max_length=100)
+    email = models.EmailField(unique=True)
+    created_at = models.DateTimeField(auto_now_add=True)
+
+# views.py
+from django.http import JsonResponse
+from django.views import View
+
+class UserView(View):
+    def get(self, request, user_id):
+        user = User.objects.get(id=user_id)
+        return JsonResponse({'name': user.name})
+
+# urls.py
+urlpatterns = [
+    path('users/<int:user_id>/', UserView.as_view()),
+]
+```
+
+## 异步编程
+
+```python
+import asyncio
+import aiohttp
+
+async def fetch(url: str) -> str:
+    async with aiohttp.ClientSession() as session:
+        async with session.get(url) as response:
+            return await response.text()
+
+async def fetch_all(urls: list[str]) -> list[str]:
+    tasks = [fetch(url) for url in urls]
+    return await asyncio.gather(*tasks)
+
+# 运行
+asyncio.run(fetch_all(['http://example.com', 'http://example.org']))
+```
+
+## 数据处理
+
+### Pandas
+```python
+import pandas as pd
+
+# 读取数据
+df = pd.read_csv('data.csv')
+df = pd.read_json('data.json')
+
+# 数据清洗
+df = df.dropna()
+df = df.drop_duplicates()
+df['column'] = df['column'].str.strip()
+
+# 数据转换
+df['date'] = pd.to_datetime(df['date'])
+df['category'] = df['category'].astype('category')
+
+# 聚合分析
+result = df.groupby('category').agg({
+    'value': ['sum', 'mean', 'count']
+})
+
+# 导出
+df.to_csv('output.csv', index=False)
+df.to_json('output.json', orient='records')
+```
+
+## 测试
+
+### pytest
+```python
+import pytest
+from myapp import calculate, UserService
+
+# 基础测试
+def test_add():
+    assert calculate.add(1, 2) == 3
+
+# 参数化
+@pytest.mark.parametrize("a,b,expected", [
+    (1, 2, 3),
+    (0, 0, 0),
+    (-1, 1, 0),
+])
+def test_add_params(a, b, expected):
+    assert calculate.add(a, b) == expected
+
+# Fixture
+@pytest.fixture
+def user_service():
+    service = UserService()
+    yield service
+    service.cleanup()
+
+def test_create_user(user_service):
+    user = user_service.create("test")
+    assert user.name == "test"
+
+# Mock
+from unittest.mock import Mock, patch
+
+@patch('myapp.requests.get')
+def test_fetch(mock_get):
+    mock_get.return_value.json.return_value = {"id": 1}
+    result = fetch_user(1)
+    assert result["id"] == 1
+
+# 异步测试
+@pytest.mark.asyncio
+async def test_async_fetch():
+    result = await async_fetch()
+    assert result is not None
+```
+
+### 运行测试
+```bash
+pytest                      # 运行所有
+pytest test_file.py         # 指定文件
+pytest -k "test_add"        # 匹配名称
+pytest -v                   # 详细输出
+pytest --cov=myapp          # 覆盖率
+pytest -x                   # 失败即停
+```
+
+## CLI 工具
+
+### Typer (推荐)
+```python
+import typer
+
+app = typer.Typer()
+
+@app.command()
+def hello(name: str, count: int = 1):
+    """Say hello NAME, COUNT times."""
+    for _ in range(count):
+        typer.echo(f"Hello {name}!")
+
+@app.command()
+def goodbye(name: str, formal: bool = False):
+    if formal:
+        typer.echo(f"Goodbye Ms. {name}. Have a good day.")
+    else:
+        typer.echo(f"Bye {name}!")
+
+if __name__ == "__main__":
+    app()
+```
+
+### argparse
+```python
+import argparse
+
+parser = argparse.ArgumentParser(description='My CLI tool')
+parser.add_argument('input', help='Input file')
+parser.add_argument('-o', '--output', default='output.txt')
+parser.add_argument('-v', '--verbose', action='store_true')
+
+args = parser.parse_args()
+```
+
+## 项目结构
+
+```
+myproject/
+├── pyproject.toml          # 项目配置
+├── README.md
+├── src/
+│   └── myproject/
+│       ├── __init__.py
+│       ├── main.py
+│       ├── models.py
+│       └── utils.py
+├── tests/
+│   ├── __init__.py
+│   ├── conftest.py
+│   └── test_main.py
+└── scripts/
+    └── run.py
+```
+
+### pyproject.toml
+```toml
+[project]
+name = "myproject"
+version = "0.1.0"
+dependencies = [
+    "fastapi>=0.100.0",
+    "uvicorn>=0.23.0",
+]
+
+[project.optional-dependencies]
+dev = [
+    "pytest>=7.0.0",
+    "pytest-cov>=4.0.0",
+]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[tool.ruff]
+line-length = 120
+select = ["E", "F", "I"]
+```
+
+## 常用库
+
+| 库 | 用途 |
+|---|------|
+| requests/httpx | HTTP 客户端 |
+| aiohttp | 异步 HTTP |
+| SQLAlchemy | ORM |
+| Pydantic | 数据验证 |
+| Click/Typer | CLI |
+| pytest | 测试 |
+| pandas | 数据处理 |
+| loguru | 日志 |
+
+---
+