Refactor tests
This commit is contained in:
Simon Alibert
parent
d70bc4bde9
commit
1f210bc8a3
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@ -5,7 +5,6 @@ import dynamixel_sdk as dxl
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import serial
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from mock_serial.mock_serial import MockSerial
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from lerobot.common.motors.dynamixel import X_SERIES_CONTROL_TABLE
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from lerobot.common.motors.dynamixel.dynamixel import _split_into_byte_chunks
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from .mock_serial_patch import WaitableStub
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@ -425,8 +424,6 @@ class MockMotors(MockSerial):
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instruction packets. It is meant to test MotorsBus classes.
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"""
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ctrl_table = X_SERIES_CONTROL_TABLE
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def __init__(self):
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super().__init__()
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@ -5,7 +5,6 @@ import scservo_sdk as scs
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import serial
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from mock_serial import MockSerial
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from lerobot.common.motors.feetech import STS_SMS_SERIES_CONTROL_TABLE
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from lerobot.common.motors.feetech.feetech import _split_into_byte_chunks, patch_setPacketTimeout
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from .mock_serial_patch import WaitableStub
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@ -278,8 +277,6 @@ class MockMotors(MockSerial):
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instruction packets. It is meant to test MotorsBus classes.
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"""
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ctrl_table = STS_SMS_SERIES_CONTROL_TABLE
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def __init__(self):
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super().__init__()
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@ -90,13 +90,10 @@ def test_abc_implementation(dummy_motors):
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def test_ping(id_, mock_motors, dummy_motors):
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expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
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stub = mock_motors.build_ping_stub(id_, expected_model_nb)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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ping_model_nb = motors_bus.ping(id_)
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ping_model_nb = bus.ping(id_)
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assert ping_model_nb == expected_model_nb
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assert mock_motors.stubs[stub].called
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@ -106,13 +103,10 @@ def test_broadcast_ping(mock_motors, dummy_motors):
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models = {m.id: m.model for m in dummy_motors.values()}
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expected_model_nbs = {id_: MODEL_NUMBER_TABLE[model] for id_, model in models.items()}
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stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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ping_model_nbs = motors_bus.broadcast_ping()
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ping_model_nbs = bus.broadcast_ping()
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assert ping_model_nbs == expected_model_nbs
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assert mock_motors.stubs[stub].called
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@ -128,13 +122,10 @@ def test_broadcast_ping(mock_motors, dummy_motors):
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)
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def test__read(addr, length, id_, value, mock_motors, dummy_motors):
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stub = mock_motors.build_read_stub(addr, length, id_, value)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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read_value, _, _ = motors_bus._read(addr, length, id_)
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read_value, _, _ = bus._read(addr, length, id_)
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assert mock_motors.stubs[stub].called
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assert read_value == value
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@ -144,19 +135,16 @@ def test__read(addr, length, id_, value, mock_motors, dummy_motors):
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def test__read_error(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
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stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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if raise_on_error:
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with pytest.raises(
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RuntimeError, match=re.escape("[RxPacketError] The data value exceeds the limit value!")
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):
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motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
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bus._read(addr, length, id_, raise_on_error=raise_on_error)
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else:
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_, _, read_error = motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
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_, _, read_error = bus._read(addr, length, id_, raise_on_error=raise_on_error)
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assert read_error == error
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assert mock_motors.stubs[stub].called
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@ -166,17 +154,14 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
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def test__read_comm(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value = (10, 4, 1, 1337)
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stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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if raise_on_error:
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with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
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motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
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bus._read(addr, length, id_, raise_on_error=raise_on_error)
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else:
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_, read_comm, _ = motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
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_, read_comm, _ = bus._read(addr, length, id_, raise_on_error=raise_on_error)
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assert read_comm == dxl.COMM_RX_TIMEOUT
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assert mock_motors.stubs[stub].called
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@ -192,13 +177,10 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
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)
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def test__write(addr, length, id_, value, mock_motors, dummy_motors):
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stub = mock_motors.build_write_stub(addr, length, id_, value)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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comm, error = motors_bus._write(addr, length, id_, value)
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comm, error = bus._write(addr, length, id_, value)
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assert mock_motors.stubs[stub].called
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assert comm == dxl.COMM_SUCCESS
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@ -209,19 +191,16 @@ def test__write(addr, length, id_, value, mock_motors, dummy_motors):
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def test__write_error(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
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stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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if raise_on_error:
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with pytest.raises(
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RuntimeError, match=re.escape("[RxPacketError] The data value exceeds the limit value!")
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):
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motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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else:
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_, write_error = motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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_, write_error = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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assert write_error == error
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assert mock_motors.stubs[stub].called
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@ -231,17 +210,14 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
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def test__write_comm(raise_on_error, mock_motors, dummy_motors):
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addr, length, id_, value = (10, 4, 1, 1337)
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stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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if raise_on_error:
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with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
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motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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else:
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write_comm, _ = motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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write_comm, _ = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
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assert write_comm == dxl.COMM_RX_TIMEOUT
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assert mock_motors.stubs[stub].called
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@ -258,13 +234,10 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
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)
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def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
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stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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read_values, _ = motors_bus._sync_read(addr, length, list(ids_values))
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read_values, _ = bus._sync_read(addr, length, list(ids_values))
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assert mock_motors.stubs[stub].called
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assert read_values == ids_values
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@ -274,17 +247,14 @@ def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
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def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
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addr, length, ids_values = (10, 4, {1: 1337})
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stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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if raise_on_error:
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with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
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motors_bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
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bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
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else:
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_, read_comm = motors_bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
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_, read_comm = bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
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assert read_comm == dxl.COMM_RX_TIMEOUT
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assert mock_motors.stubs[stub].called
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@ -301,13 +271,10 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
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)
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def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
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stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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comm = motors_bus._sync_write(addr, length, ids_values)
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comm = bus._sync_write(addr, length, ids_values)
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assert mock_motors.stubs[stub].wait_called()
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assert comm == dxl.COMM_SUCCESS
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@ -322,14 +289,14 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
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offsets_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Homing_Offset"], encoded_homings)
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mins_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Min_Position_Limit"], mins)
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maxes_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Max_Position_Limit"], maxes)
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motors_bus = DynamixelMotorsBus(
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bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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calibration=dummy_calibration,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus.connect(assert_motors_exist=False)
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is_calibrated = motors_bus.is_calibrated
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is_calibrated = bus.is_calibrated
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assert is_calibrated
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assert mock_motors.stubs[drive_modes_stub].called
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@ -353,13 +320,10 @@ def test_reset_calibration(mock_motors, dummy_motors):
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mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Max_Position_Limit"], motor.id, 4095)
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)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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motors_bus.reset_calibration()
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bus.reset_calibration()
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assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
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assert all(mock_motors.stubs[stub].called for stub in write_mins_stubs)
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@ -390,16 +354,13 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
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stub = mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Homing_Offset"], id_, encoded_homing)
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write_homing_stubs.append(stub)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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motors_bus.reset_calibration = MagicMock()
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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bus.reset_calibration = MagicMock()
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motors_bus.set_half_turn_homings()
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bus.set_half_turn_homings()
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motors_bus.reset_calibration.assert_called_once()
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bus.reset_calibration.assert_called_once()
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assert mock_motors.stubs[read_pos_stub].called
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assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
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@ -424,13 +385,10 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
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*X_SERIES_CONTROL_TABLE["Present_Position"], positions
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)
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with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors=dummy_motors,
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)
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motors_bus.connect(assert_motors_exist=False)
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bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
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bus.connect(assert_motors_exist=False)
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mins, maxes = motors_bus.record_ranges_of_motion(display_values=False)
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mins, maxes = bus.record_ranges_of_motion(display_values=False)
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assert mock_motors.stubs[read_pos_stub].calls == 3
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assert mins == expected_mins
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@ -91,36 +91,19 @@ def test_abc_implementation(dummy_motors):
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FeetechMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
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@pytest.mark.skip("TODO")
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def test_scan_port(mock_motors):
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expected = {
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9_600: {1: 777},
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57_600: {2: 777},
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500_000: {237: 777},
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}
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expected_model_nbs = {id_: model for d in expected.values() for id_, model in d.items()}
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ping_stub = mock_motors.build_broadcast_ping_stub(list(expected_model_nbs))
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mobel_nb_stub = mock_motors.build_sync_read_stub("Model_Number", expected_model_nbs)
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found = FeetechMotorsBus.scan_port(mock_motors.port)
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assert found == expected
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assert mock_motors.stubs[ping_stub].called
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assert mock_motors.stubs[mobel_nb_stub].called
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@pytest.mark.parametrize("id_", [1, 2, 3])
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def test_ping(id_, mock_motors, dummy_motors):
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expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
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addr, length = MODEL_NUMBER
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ping_stub = mock_motors.build_ping_stub(id_)
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mobel_nb_stub = mock_motors.build_read_stub(addr, length, id_, expected_model_nb)
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motors_bus = FeetechMotorsBus(
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bus = FeetechMotorsBus(
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port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
ping_model_nb = motors_bus.ping(id_)
|
||||
ping_model_nb = bus.ping(id_)
|
||||
|
||||
assert ping_model_nb == expected_model_nb
|
||||
assert mock_motors.stubs[ping_stub].called
|
||||
|
|
@ -138,13 +121,13 @@ def test_broadcast_ping(mock_motors, dummy_motors):
|
|||
stub = mock_motors.build_read_stub(addr, length, id_, model_nb)
|
||||
expected_model_nbs[id_] = model_nb
|
||||
mobel_nb_stubs.append(stub)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
ping_model_nbs = motors_bus.broadcast_ping()
|
||||
ping_model_nbs = bus.broadcast_ping()
|
||||
|
||||
assert ping_model_nbs == expected_model_nbs
|
||||
assert mock_motors.stubs[ping_stub].called
|
||||
|
|
@ -160,57 +143,57 @@ def test_broadcast_ping(mock_motors, dummy_motors):
|
|||
],
|
||||
)
|
||||
def test__read(addr, length, id_, value, mock_motors, dummy_motors):
|
||||
stub_name = mock_motors.build_read_stub(addr, length, id_, value)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
stub = mock_motors.build_read_stub(addr, length, id_, value)
|
||||
bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
read_value, _, _ = motors_bus._read(addr, length, id_)
|
||||
read_value, _, _ = bus._read(addr, length, id_)
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
assert read_value == value
|
||||
|
||||
|
||||
@pytest.mark.parametrize("raise_on_error", (True, False))
|
||||
def test__read_error(raise_on_error, mock_motors, dummy_motors):
|
||||
addr, length, id_, value, error = (10, 4, 1, 1337, scs.ERRBIT_VOLTAGE)
|
||||
stub_name = mock_motors.build_read_stub(addr, length, id_, value, error=error)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
|
||||
bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
if raise_on_error:
|
||||
with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
|
||||
motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
else:
|
||||
_, _, read_error = motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
_, _, read_error = bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
assert read_error == error
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
|
||||
|
||||
@pytest.mark.parametrize("raise_on_error", (True, False))
|
||||
def test__read_comm(raise_on_error, mock_motors, dummy_motors):
|
||||
addr, length, id_, value = (10, 4, 1, 1337)
|
||||
stub_name = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
|
||||
bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
if raise_on_error:
|
||||
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
|
||||
motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
else:
|
||||
_, read_comm, _ = motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
_, read_comm, _ = bus._read(addr, length, id_, raise_on_error=raise_on_error)
|
||||
assert read_comm == scs.COMM_RX_TIMEOUT
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
|
|
@ -222,16 +205,16 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
|
|||
],
|
||||
)
|
||||
def test__write(addr, length, id_, value, mock_motors, dummy_motors):
|
||||
stub_name = mock_motors.build_write_stub(addr, length, id_, value)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
stub = mock_motors.build_write_stub(addr, length, id_, value)
|
||||
bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
comm, error = motors_bus._write(addr, length, id_, value)
|
||||
comm, error = bus._write(addr, length, id_, value)
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
assert comm == scs.COMM_SUCCESS
|
||||
assert error == 0
|
||||
|
||||
|
|
@ -239,41 +222,35 @@ def test__write(addr, length, id_, value, mock_motors, dummy_motors):
|
|||
@pytest.mark.parametrize("raise_on_error", (True, False))
|
||||
def test__write_error(raise_on_error, mock_motors, dummy_motors):
|
||||
addr, length, id_, value, error = (10, 4, 1, 1337, scs.ERRBIT_VOLTAGE)
|
||||
stub_name = mock_motors.build_write_stub(addr, length, id_, value, error=error)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
if raise_on_error:
|
||||
with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
|
||||
motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
else:
|
||||
_, write_error = motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
_, write_error = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
assert write_error == error
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
|
||||
|
||||
@pytest.mark.parametrize("raise_on_error", (True, False))
|
||||
def test__write_comm(raise_on_error, mock_motors, dummy_motors):
|
||||
addr, length, id_, value = (10, 4, 1, 1337)
|
||||
stub_name = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
if raise_on_error:
|
||||
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
|
||||
motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
else:
|
||||
write_comm, _ = motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
write_comm, _ = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
|
||||
assert write_comm == scs.COMM_RX_TIMEOUT
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
|
|
@ -286,37 +263,31 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
|
|||
ids=["1 motor", "2 motors", "3 motors"],
|
||||
)
|
||||
def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
|
||||
stub_name = mock_motors.build_sync_read_stub(addr, length, ids_values)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
read_values, _ = motors_bus._sync_read(addr, length, list(ids_values))
|
||||
read_values, _ = bus._sync_read(addr, length, list(ids_values))
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
assert read_values == ids_values
|
||||
|
||||
|
||||
@pytest.mark.parametrize("raise_on_error", (True, False))
|
||||
def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
|
||||
addr, length, ids_values = (10, 4, {1: 1337})
|
||||
stub_name = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
if raise_on_error:
|
||||
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
|
||||
motors_bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
|
||||
bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
|
||||
else:
|
||||
_, read_comm = motors_bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
|
||||
_, read_comm = bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
|
||||
assert read_comm == scs.COMM_RX_TIMEOUT
|
||||
|
||||
assert mock_motors.stubs[stub_name].called
|
||||
assert mock_motors.stubs[stub].called
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
|
|
@ -329,16 +300,13 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
|
|||
ids=["1 motor", "2 motors", "3 motors"],
|
||||
)
|
||||
def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
|
||||
stub_name = mock_motors.build_sync_write_stub(addr, length, ids_values)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
comm = motors_bus._sync_write(addr, length, ids_values)
|
||||
comm = bus._sync_write(addr, length, ids_values)
|
||||
|
||||
assert mock_motors.stubs[stub_name].wait_called()
|
||||
assert mock_motors.stubs[stub].wait_called()
|
||||
assert comm == scs.COMM_SUCCESS
|
||||
|
||||
|
||||
|
|
@ -351,14 +319,14 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
|
|||
)
|
||||
mins_stub = mock_motors.build_sync_read_stub(*STS_SMS_SERIES_CONTROL_TABLE["Min_Position_Limit"], mins)
|
||||
maxes_stub = mock_motors.build_sync_read_stub(*STS_SMS_SERIES_CONTROL_TABLE["Max_Position_Limit"], maxes)
|
||||
motors_bus = FeetechMotorsBus(
|
||||
bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
calibration=dummy_calibration,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
is_calibrated = motors_bus.is_calibrated
|
||||
is_calibrated = bus.is_calibrated
|
||||
|
||||
assert is_calibrated
|
||||
assert mock_motors.stubs[offsets_stub].called
|
||||
|
|
@ -381,13 +349,10 @@ def test_reset_calibration(mock_motors, dummy_motors):
|
|||
mock_motors.build_write_stub(*STS_SMS_SERIES_CONTROL_TABLE["Max_Position_Limit"], motor.id, 4095)
|
||||
)
|
||||
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
motors_bus.reset_calibration()
|
||||
bus.reset_calibration()
|
||||
|
||||
assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
|
||||
assert all(mock_motors.stubs[stub].called for stub in write_mins_stubs)
|
||||
|
|
@ -420,16 +385,13 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
|
|||
)
|
||||
write_homing_stubs.append(stub)
|
||||
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
motors_bus.reset_calibration = MagicMock()
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.reset_calibration = MagicMock()
|
||||
|
||||
motors_bus.set_half_turn_homings()
|
||||
bus.set_half_turn_homings()
|
||||
|
||||
motors_bus.reset_calibration.assert_called_once()
|
||||
bus.reset_calibration.assert_called_once()
|
||||
assert mock_motors.stubs[read_pos_stub].called
|
||||
assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
|
||||
|
||||
|
|
@ -450,18 +412,15 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
|
|||
"dummy_2": 3600,
|
||||
"dummy_3": 4002,
|
||||
}
|
||||
read_pos_stub = mock_motors.build_sequential_sync_read_stub(
|
||||
stub = mock_motors.build_sequential_sync_read_stub(
|
||||
*STS_SMS_SERIES_CONTROL_TABLE["Present_Position"], positions
|
||||
)
|
||||
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
|
||||
motors_bus = FeetechMotorsBus(
|
||||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
motors_bus.connect(assert_motors_exist=False)
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
|
||||
mins, maxes = motors_bus.record_ranges_of_motion(display_values=False)
|
||||
mins, maxes = bus.record_ranges_of_motion(display_values=False)
|
||||
|
||||
assert mock_motors.stubs[read_pos_stub].calls == 3
|
||||
assert mock_motors.stubs[stub].calls == 3
|
||||
assert mins == expected_mins
|
||||
assert maxes == expected_maxes
|
||||
|
|
|
|||
Loading…
Reference in New Issue