fix(python): default LidarData point_cloud/segmentation to lists

PythonClient/airsim/types.py

@@ -415,10 +415,13 @@ class CameraInfo(MsgpackMixin):
     proj_mat = ProjectionMatrix()
 
 class LidarData(MsgpackMixin):
-    point_cloud = 0.0
+    # C++ SoT: vector<real_T> point_cloud + vector<int> segmentation
+    # (see CommonStructs.hpp / RpcLibAdaptorsBase). Defaults must be lists so
+    # clients can len()/slice before any RPC payload is applied.
+    point_cloud = []
     time_stamp = np.uint64(0)
     pose = Pose()
-    segmentation = 0
+    segmentation = []
 
 class ImuData(MsgpackMixin):
     time_stamp = np.uint64(0)

PythonClient/tests/__init__.py

@@ -0,0 +1 @@
+# Offline PythonClient unit tests (no AirSim sim required).

PythonClient/tests/test_lidar_data_types.py

@@ -0,0 +1,54 @@
+"""Offline checks for LidarData list field defaults (no AirSim sim required)."""
+from __future__ import annotations
+
+import importlib.util
+import sys
+import types
+import unittest
+from pathlib import Path
+
+
+def _load_types():
+    # Stub msgpackrpc so types.py imports cleanly without the RPC package.
+    if "msgpackrpc" not in sys.modules:
+        sys.modules["msgpackrpc"] = types.ModuleType("msgpackrpc")
+    root = Path(__file__).resolve().parents[1] / "airsim" / "types.py"
+    spec = importlib.util.spec_from_file_location("airsim_types_under_test", root)
+    mod = importlib.util.module_from_spec(spec)
+    assert spec.loader is not None
+    spec.loader.exec_module(mod)
+    return mod
+
+
+class TestLidarDataTypes(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.types = _load_types()
+
+    def test_defaults_are_empty_lists(self):
+        data = self.types.LidarData()
+        self.assertIsInstance(data.point_cloud, list)
+        self.assertIsInstance(data.segmentation, list)
+        self.assertEqual(len(data.point_cloud), 0)
+        self.assertEqual(len(data.segmentation), 0)
+        # Historical bug: scalar defaults break sample len()/slice code paths.
+        self.assertFalse(isinstance(data.point_cloud, float))
+        self.assertFalse(isinstance(data.segmentation, int))
+
+    def test_assign_point_cloud_and_segmentation(self):
+        data = self.types.LidarData()
+        data.point_cloud = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
+        data.segmentation = [10, 20]
+        self.assertEqual(len(data.point_cloud), 6)
+        self.assertEqual(data.point_cloud[0:3], [1.0, 2.0, 3.0])
+        self.assertEqual(data.segmentation, [10, 20])
+        # Triplet walk matches public sample clients (drone_lidar / point_cloud).
+        triplets = [
+            data.point_cloud[i : i + 3]
+            for i in range(0, len(data.point_cloud), 3)
+        ]
+        self.assertEqual(triplets, [[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]])
+
+
+if __name__ == "__main__":
+    unittest.main()