Improve Python tests, coverage, and contributor docs

- Increased Python test covergage: build configuration, OCP solutions, affine
spaces, ROS configuration, and Y set calculation.
- Updated changelog

Author: alphaville

docs/content/contributing.mdx

@@ -268,18 +268,18 @@ cd python
 python3 -m venv venv
 source venv/bin/activate
 python -m pip install --upgrade pip
-pip install -e .
+pip install -e '.[dev]'
 ```
 
 If you plan to run the benchmark suite as well, install the extra dependency:
 
 ```bash
-pip install pytest-benchmark[histogram]
+pip install "pytest-benchmark[histogram]"
 ```
 
 ### Run the Rust tests
 
-From the repository root, run:
+From the repository root, run: 
 
 ```bash
 cargo test
@@ -300,7 +300,15 @@ cargo check
 
 ### Run the Python and code-generation tests
 
-From within `python/`, run the following tests after you activate `venv`
+From within `python/`, run the following tests after you activate `venv`.
+The package's optional development dependencies include `pytest`, so the
+recommended install command is:
+
+```bash
+pip install -e '.[dev]'
+```
+
+You can keep using the existing `unittest` commands:
 
 ```bash
 # Activate venv first
@@ -309,6 +317,14 @@ python -W ignore test/test.py -v
 python -W ignore test/test_ocp.py -v
 ```
 
+or execute the same files with `pytest`:
+
+```bash
+pytest test/test_constraints.py
+pytest test/test.py
+pytest test/test_ocp.py
+```
+
 The ROS2 tests should normally be run from an environment where ROS2 is already
 installed and configured, for example a dedicated `micromamba` environment.
 They should not be assumed to run from the plain `venv` above unless that
@@ -337,3 +353,78 @@ cargo clippy --all-targets
 
 Before opening a pull request, please run the tests that are relevant to the
 part of the codebase you changed and make sure they pass locally.
+
+### Run the benchmarks
+
+The Python benchmark suite uses `pytest-benchmark`. If you have not already
+installed the development dependencies, do:
+
+```bash
+cd python
+source venv/bin/activate
+pip install -e '.[dev]'
+pip install pytest-benchmark[histogram]
+```
+
+Before running the benchmarks, generate the benchmarkable optimizers:
+
+```bash
+python test/prepare_benchmarks.py
+```
+
+Then run the benchmark suite with `pytest`:
+
+```bash
+pytest test/benchmark_open.py --benchmark-only
+```
+
+To generate a histogram report, pass an output prefix:
+
+```bash
+pytest test/benchmark_open.py --benchmark-histogram=out
+```
+
+This will produce a file such as `out.svg` in the current directory.
+
+### Produce coverage reports
+
+For Python coverage reports, activate your virtual environment in `python/`
+and install `coverage` if needed:
+
+```bash
+cd python
+source venv/bin/activate
+pip install coverage
+```
+
+Then run the main Python test suite under coverage and print a summary:
+
+```bash
+coverage erase
+coverage run --source=opengen test/test_constraints.py
+coverage run -a --source=opengen test/test.py
+coverage run -a --source=opengen test/test_ocp.py
+coverage report -m
+```
+
+To generate an HTML report, run:
+
+```bash
+coverage html
+```
+
+This writes the report to `python/htmlcov/index.html`.
+
+For Rust coverage reports, install `cargo-llvm-cov` once:
+
+```bash
+cargo install cargo-llvm-cov
+```
+
+Then, from `rust/`, run:
+
+```bash
+cargo llvm-cov --html
+```
+
+The HTML report will be written to `rust/target/llvm-cov/html/index.html`.

python/CHANGELOG.md

@@ -15,6 +15,7 @@ Note: This is the Changelog file of `opengen` - the Python interface of OpEn
 - ROS2 package generation support via `BuildConfiguration.with_ros2(...)`, including auto-generated ROS2 templates, launcher, messages, and package wrapper code
 - Dedicated ROS2 tests covering package generation, build configuration behavior, rendered custom package settings, and end-to-end execution of a generated ROS2 node
 - More informative TCP solver error payloads, including clearer dimension/parameter validation failures and propagated solver-side failure messages
+- Additional unit tests for `BuildConfiguration`, `OcpSolution`, `AffineSpace`, `RosConfiguration`, and `SetYCalculator`, increasing Python coverage to 93%
 
 ### Changed
 
@@ -24,6 +25,17 @@ Note: This is the Changelog file of `opengen` - the Python interface of OpEn
 - Updated generated TCP server and C interface templates to work with the richer Rust solver error model and expose better failure information to clients. Updated auto-generated `CMakeLists.txt` file. Tighter unit tests.
 - ROS2 generated packages now publish detailed `error_code` and `error_message` fields, plus `STATUS_INVALID_REQUEST`, so invalid requests and solver failures are reported explicitly instead of being silently ignored
 - Extended GitHub Actions CI to run Python, OCP, and generated-code tests on Windows, and fixed multiple Windows-specific code generation, path, encoding, TCP, and C/CMake compatibility issues.
+- ROS/ROS2 messages: using `uint64` instead of `uint8` to avoid overflow
+- Tighter checks of provided arguments in build configuration
+- Added `pytest` to the optional `dev` dependencies and documented local test, benchmark, and coverage workflows for Python and Rust contributors
+
+### Fixed
+
+- Generated ROS and ROS2 wrappers now accept any meaningful positive `initial_penalty` instead of requiring values greater than `1.0`
+- Generated ROS and ROS2 result messages now use wide iteration counters so `inner_iterations` and `outer_iterations` cannot overflow
+- ROS2 generated packages now use `uint16` for `error_code`, matching the current positive error-code range while keeping the wire format compact
+- MATLAB-related Python docs now reference the new `python/` package layout instead of the removed `open-codegen/` path
+- ROS2 integration tests now clean stale nested `colcon` build artifacts and preserve the active shell environment more reliably in micromamba/conda setups
 
 
 ## [0.10.1] - 2026-03-25

python/opengen/config/build_config.py

@@ -1,5 +1,6 @@
 from opengen.config.tcp_server_config import TcpServerConfiguration
 from opengen.config.ros_config import RosConfiguration
+from opengen.config.meta import SEMVER_PATTERN
 import random
 import string
 from enum import Enum
@@ -234,6 +235,13 @@ def with_open_version(self, open_version="*", local_path=None):
 
         :return: current instance of BuildConfiguration
         """
+        if open_version != "*" and (
+            not isinstance(open_version, str) or not SEMVER_PATTERN.match(open_version)
+        ):
+            raise ValueError(
+                "invalid OpEn version {!r}; expected '*' or a Semantic Version "
+                "such as '0.1.0' or '1.2.3-alpha.1'".format(open_version)
+            )
         self.__open_version = open_version
         self.__local_path = None if local_path is None else str(local_path)
         return self
@@ -320,6 +328,10 @@ def with_allocator(self, allocator: RustAllocator):
 
         :return: current instance of BuildConfiguration
         """
+        if not isinstance(allocator, RustAllocator):
+            raise ValueError(
+                "allocator must be an instance of RustAllocator"
+            )
         self.__allocator = allocator
         return self
 

python/pyproject.toml

@@ -54,6 +54,7 @@ Changelog = "https://github.com/alphaville/optimization-engine/blob/master/pytho
 [project.optional-dependencies]
 dev = [
   "build>=1",
+  "pytest>=8",
   "twine>=5",
 ]