From 6fa859fa198c41907366408e5e4e329f95f6609d Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Sat, 22 Mar 2025 00:39:41 +0100 Subject: [PATCH] Improve dynamixel mocking --- tests/mocks/mock_dynamixel.py | 210 +++++++++++++++++++-------------- tests/motors/test_dynamixel.py | 53 +++++---- 2 files changed, 152 insertions(+), 111 deletions(-) diff --git a/tests/mocks/mock_dynamixel.py b/tests/mocks/mock_dynamixel.py index 3f55f058..4ea47aea 100644 --- a/tests/mocks/mock_dynamixel.py +++ b/tests/mocks/mock_dynamixel.py @@ -10,43 +10,38 @@ from lerobot.common.motors.dynamixel import X_SERIES_CONTROL_TABLE # https://emanual.robotis.com/docs/en/dxl/crc/ DXL_CRC_TABLE = [ - 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, - 0x8011, 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, - 0x8027, 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, - 0x807D, 0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, - 0x804B, 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, - 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, - 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, - 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, - 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, - 0x0082, 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, - 0x8197, 0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, - 0x01AE, 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, - 0x81FB, 0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, - 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, - 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, - 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, - 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, - 0x0132, 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, - 0x0104, 0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, - 0x831D, 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, - 0x832B, 0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, - 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, - 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, - 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, - 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, - 0x03E2, 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, - 0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, - 0x038E, 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, - 0x829B, 0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, - 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, - 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, - 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, - 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, - 0x0252, 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, - 0x0264, 0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, - 0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, - 0x0208, 0x820D, 0x8207, 0x0202 + 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, + 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, + 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072, + 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, + 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, + 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, + 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, + 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, + 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, + 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, + 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1, + 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, + 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, + 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, + 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, + 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101, + 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312, + 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321, + 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, + 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, + 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, + 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, + 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, + 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381, + 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291, + 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, + 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, + 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, + 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, + 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, + 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231, + 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202 ] # fmt: skip # https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction @@ -191,6 +186,20 @@ class MockInstructionPacket(MockDynamixelPacketv2): 0x00, 0x00 # placeholder for CRC ] # fmt: skip + @classmethod + def ping( + cls, + dxl_id: int, + ) -> bytes: + """ + Builds a "Ping" broadcast instruction. + (from https://emanual.robotis.com/docs/en/dxl/protocol2/#ping-0x01) + + No parameters required. + """ + params, length = [], 3 + return cls.build(dxl_id=dxl_id, params=params, length=length, instruct_type="Ping") + @classmethod def sync_read( cls, @@ -252,12 +261,32 @@ class MockStatusPacket(MockDynamixelPacketv2): 0x00, 0x00 # placeholder for CRC ] # fmt: skip + @classmethod + def ping(cls, dxl_id: int, model_nb: int = 1190, firm_ver: int = 50) -> bytes: + """Builds a 'Ping' status packet. + + https://emanual.robotis.com/docs/en/dxl/protocol2/#ping-0x01 + + Args: + dxl_id (int): ID of the servo responding. + model_nb (int, optional): Desired 'model number' to be returned in the packet. Defaults to 1190 + which corresponds to a XL330-M077-T. + firm_ver (int, optional): Desired 'firmware version' to be returned in the packet. + Defaults to 50. + + Returns: + bytes: The raw 'Ping' status packet ready to be sent through serial. + """ + params = [dxl.DXL_LOBYTE(model_nb), dxl.DXL_HIBYTE(model_nb), firm_ver] + length = 7 + return cls.build(dxl_id, params=params, length=length) + @classmethod def present_position(cls, dxl_id: int, pos: int | None = None, min_max_range: tuple = (0, 4095)) -> bytes: """Builds a 'Present_Position' status packet. Args: - dxl_id (int): List of the servos ids + dxl_id (int): Servo id pos (int | None, optional): Desired 'Present_Position' to be returned in the packet. If None, it will use a random value in the min_max_range. Defaults to None. min_max_range (tuple, optional): Min/max range to generate the position values used for when 'pos' @@ -308,62 +337,69 @@ class MockMotors(MockSerial): ctrl_table = X_SERIES_CONTROL_TABLE - def __init__(self, dlx_ids: list[int]): + def __init__(self): super().__init__() - self._ids = dlx_ids self.open() - def build_single_motor_stubs( - self, data_name: str, return_value: int | None = None, num_invalid_try: int | None = None - ) -> None: - address, length = self.ctrl_table[data_name] - for idx in self._ids: - if data_name == "Present_Position": - sync_read_request_single = MockInstructionPacket.sync_read([idx], address, length) - sync_read_response_single = self._build_present_pos_send_fn( - [idx], [return_value], num_invalid_try - ) - else: - raise NotImplementedError # TODO(aliberts): add ping? - - self.stub( - name=f"SyncRead_{data_name}_{idx}", - receive_bytes=sync_read_request_single, - send_fn=sync_read_response_single, - ) - - def build_all_motors_stub( - self, data_name: str, return_values: list[int] | None = None, num_invalid_try: int | None = None - ) -> None: - address, length = self.ctrl_table[data_name] - if data_name == "Present_Position": - sync_read_request_all = MockInstructionPacket.sync_read(self._ids, address, length) - sync_read_response_all = self._build_present_pos_send_fn( - self._ids, return_values, num_invalid_try - ) - else: - raise NotImplementedError # TODO(aliberts): add ping? - - self.stub( - name=f"SyncRead_{data_name}_all", - receive_bytes=sync_read_request_all, - send_fn=sync_read_response_all, + def build_broadcast_ping_stub( + self, ids_models_firmwares: dict[int, list[int]] | None = None, num_invalid_try: int = 0 + ) -> str: + ping_request = MockInstructionPacket.ping(dxl.BROADCAST_ID) + return_packets = b"".join( + MockStatusPacket.ping(idx, model, firm_ver) + for idx, (model, firm_ver) in ids_models_firmwares.items() ) + ping_response = self._build_send_fn(return_packets, num_invalid_try) - def _build_present_pos_send_fn( - self, dxl_ids: list[int], return_pos: list[int] | None = None, num_invalid_try: int | None = None - ) -> Callable[[int], bytes]: - return_pos = [None for _ in dxl_ids] if return_pos is None else return_pos - assert len(return_pos) == len(dxl_ids) + stub_name = "Ping_" + "_".join([str(idx) for idx in ids_models_firmwares]) + self.stub( + name=stub_name, + receive_bytes=ping_request, + send_fn=ping_response, + ) + return stub_name + def build_ping_stub( + self, dxl_id: int, model_nb: int, firm_ver: int = 50, num_invalid_try: int = 0 + ) -> str: + ping_request = MockInstructionPacket.ping(dxl_id) + return_packet = MockStatusPacket.ping(dxl_id, model_nb, firm_ver) + ping_response = self._build_send_fn(return_packet, num_invalid_try) + + stub_name = f"Ping_{dxl_id}" + self.stub( + name=stub_name, + receive_bytes=ping_request, + send_fn=ping_response, + ) + return stub_name + + def build_sync_read_stub( + self, data_name: str, ids_values: dict[int, int] | None = None, num_invalid_try: int = 0 + ) -> str: + address, length = self.ctrl_table[data_name] + sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length) + if data_name != "Present_Position": + raise NotImplementedError + + return_packets = b"".join( + MockStatusPacket.present_position(idx, pos) for idx, pos in ids_values.items() + ) + sync_read_response = self._build_send_fn(return_packets, num_invalid_try) + + stub_name = f"Sync_Read_{data_name}_" + "_".join([str(idx) for idx in ids_values]) + self.stub( + name=stub_name, + receive_bytes=sync_read_request, + send_fn=sync_read_response, + ) + return stub_name + + @staticmethod + def _build_send_fn(packet: bytes, num_invalid_try: int = 0) -> Callable[[int], bytes]: def send_fn(_call_count: int) -> bytes: - if num_invalid_try is not None and num_invalid_try >= _call_count: + if num_invalid_try >= _call_count: return b"" - - packets = b"".join( - MockStatusPacket.present_position(idx, pos) - for idx, pos in zip(dxl_ids, return_pos, strict=True) - ) - return packets + return packet return send_fn diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py index ce50dd91..3bccba1f 100644 --- a/tests/motors/test_dynamixel.py +++ b/tests/motors/test_dynamixel.py @@ -81,6 +81,7 @@ def test_split_int_bytes_large_number(): def test_abc_implementation(dummy_motors): """Instantiation should raise an error if the class doesn't implement abstract methods/properties.""" DynamixelMotorsBus(port="/dev/dummy-port", motors=dummy_motors) + DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")}) @@ -95,21 +96,24 @@ def test_abc_implementation(dummy_motors): ids=["None", "by ids", "by names", "mixed"], ) def test_read_all_motors(motors, dummy_motors): - mock_motors = MockMotors([1, 2, 3]) - positions = [1337, 42, 4016] - mock_motors.build_sync_read_all_motors_stub("Present_Position", return_values=positions) + mock_motors = MockMotors() + expected_positions = { + 1: 1337, + 2: 42, + 3: 4016, + } + stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_positions) motors_bus = DynamixelMotorsBus( port=mock_motors.port, motors=dummy_motors, ) motors_bus.connect() - pos_dict = motors_bus.read("Present_Position", motors=motors) + positions_read = motors_bus.read("Present_Position", motors=motors) - assert mock_motors.stubs["SyncRead_Present_Position_all"].called - assert all(returned_pos == pos for returned_pos, pos in zip(pos_dict.values(), positions, strict=True)) - assert set(pos_dict) == {"dummy_1", "dummy_2", "dummy_3"} - assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values()) + motors = ["dummy_1", "dummy_2", "dummy_3"] if motors is None else motors + assert mock_motors.stubs[stub_name].called + assert positions_read == dict(zip(motors, expected_positions.values(), strict=True)) @pytest.mark.parametrize( @@ -121,8 +125,9 @@ def test_read_all_motors(motors, dummy_motors): ], ) def test_read_single_motor_by_name(idx, pos, dummy_motors): - mock_motors = MockMotors([1, 2, 3]) - mock_motors.build_sync_read_single_motor_stubs("Present_Position", return_value=pos) + mock_motors = MockMotors() + expected_position = {idx: pos} + stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position) motors_bus = DynamixelMotorsBus( port=mock_motors.port, motors=dummy_motors, @@ -131,9 +136,8 @@ def test_read_single_motor_by_name(idx, pos, dummy_motors): pos_dict = motors_bus.read("Present_Position", f"dummy_{idx}") - assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called + assert mock_motors.stubs[stub_name].called assert pos_dict == {f"dummy_{idx}": pos} - assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values()) @pytest.mark.parametrize( @@ -145,8 +149,9 @@ def test_read_single_motor_by_name(idx, pos, dummy_motors): ], ) def test_read_single_motor_by_id(idx, pos, dummy_motors): - mock_motors = MockMotors([1, 2, 3]) - mock_motors.build_sync_read_single_motor_stubs("Present_Position", return_value=pos) + mock_motors = MockMotors() + expected_position = {idx: pos} + stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position) motors_bus = DynamixelMotorsBus( port=mock_motors.port, motors=dummy_motors, @@ -155,24 +160,24 @@ def test_read_single_motor_by_id(idx, pos, dummy_motors): pos_dict = motors_bus.read("Present_Position", idx) - assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called - assert pos_dict == {f"dummy_{idx}": pos} - assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values()) + assert mock_motors.stubs[stub_name].called + assert pos_dict == {idx: pos} @pytest.mark.parametrize( "num_retry, num_invalid_try, pos", [ - [1, 2, 1337], + [0, 2, 1337], [2, 3, 42], [3, 2, 4016], [2, 1, 999], ], ) def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors): - mock_motors = MockMotors([1, 2, 3]) - mock_motors.build_sync_read_single_motor_stubs( - "Present_Position", return_value=pos, num_invalid_try=num_invalid_try + mock_motors = MockMotors() + expected_position = {1: pos} + stub_name = mock_motors.build_sync_read_stub( + "Present_Position", expected_position, num_invalid_try=num_invalid_try ) motors_bus = DynamixelMotorsBus( port=mock_motors.port, @@ -182,10 +187,10 @@ def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors): if num_retry >= num_invalid_try: pos_dict = motors_bus.read("Present_Position", 1, num_retry=num_retry) - assert pos_dict == {"dummy_1": pos} - assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values()) + assert pos_dict == {1: pos} else: with pytest.raises(ConnectionError): _ = motors_bus.read("Present_Position", 1, num_retry=num_retry) - assert mock_motors.stubs["SyncRead_Present_Position_1"].calls == num_retry + expected_calls = min(1 + num_retry, 1 + num_invalid_try) + assert mock_motors.stubs[stub_name].calls == expected_calls