Improve dynamixel mocking
This commit is contained in:
Simon Alibert
parent
2abfa5838d
commit
6fa859fa19
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
Loading…
Reference in New Issue