diff --git a/tests/mocks/mock_dynamixel.py b/tests/mocks/mock_dynamixel.py new file mode 100644 index 00000000..8176d766 --- /dev/null +++ b/tests/mocks/mock_dynamixel.py @@ -0,0 +1,306 @@ +import abc +import random +from typing import Callable + +import dynamixel_sdk as dxl +import serial +from mock_serial import MockSerial + +from lerobot.common.motors.dynamixel.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 +] # fmt: skip + +# https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction +INSTRUCTION_TYPES = { + "Ping": 0x01, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID + "Read": 0x02, # Read data from the Device + "Write": 0x03, # Write data to the Device + "Reg_Write": 0x04, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command + "Action": 0x05, # Executes a Packet that was registered beforehand using Reg Write + "Factory_Reset": 0x06, # Resets the Control Table to its initial factory default settings + "Reboot": 0x08, # Reboot the Device + "Clear": 0x10, # Reset certain information stored in memory + "Control_Table_Backup": 0x20, # Store current Control Table status data to a Backup or to restore backup EEPROM data. + "Status": 0x55, # Return packet sent following the execution of an Instruction Packet + "Sync_Read": 0x82, # Read data from multiple devices with the same Address with the same length at once + "Sync_Write": 0x83, # Write data to multiple devices with the same Address with the same length at once + "Fast_Sync_Read": 0x8A, # Read data from multiple devices with the same Address with the same length at once + "Bulk_Read": 0x92, # Read data from multiple devices with different Addresses with different lengths at once + "Bulk_Write": 0x93, # Write data to multiple devices with different Addresses with different lengths at once + "Fast_Bulk_Read": 0x9A, # Read data from multiple devices with different Addresses with different lengths at once +} # fmt: skip + +# https://emanual.robotis.com/docs/en/dxl/protocol2/#error +STATUS_TYPE = { + "Success": 0x00, # No error + "Result_Fail": 0x01, # Failed to process the sent Instruction Packet + "Instruction_Error": 0x02, # An undefined Instruction has been usedAction has been used without Reg Write + "CRC_Error": 0x03, # The CRC of the sent Packet does not match the expected value + "Data_Range_Error": 0x04, # Data to be written to the specified Address is outside the range of the minimum/maximum value + "Data_Length_Error": 0x05, # Attempted to write Data that is shorter than the required data length of the specified Address + # (ex: when you attempt to only use 2 bytes of a register that has been defined as 4 bytes) + "Data_Limit_Error": 0x06, # Data to be written to the specified Address is outside of the configured Limit value + "Access_Error": 0x07, # Attempted to write a value to an Address that is Read Only or has not been defined + # Attempted to read a value from an Address that is Write Only or has not been defined + # Attempted to write a value to an EEPROM register while Torque was Enabled. +} # fmt: skip + + +class MockDynamixelPacketv2(abc.ABC): + @staticmethod + def _compute_crc(crc_accum: int, data_blk: list[int], data_blk_size: int) -> int: + for j in range(data_blk_size): + i = ((crc_accum >> 8) ^ data_blk[j]) & 0xFF + crc_accum = ((crc_accum << 8) ^ DXL_CRC_TABLE[i]) & 0xFFFF + return crc_accum + + @classmethod + def build(cls, dxl_id: int, params: list[int], *args, **kwargs) -> bytes: + packet = cls._build(dxl_id, params, *args, **kwargs) + crc = cls._compute_crc(0, packet, len(packet) - 2) + packet[-2] = crc & 0xFF # lower byte + packet[-1] = (crc >> 8) & 0xFF # upper byte + return bytes(packet) + + @abc.abstractclassmethod + def _build(cls, dxl_id: int, params: list[int], *args, **kwargs): + pass + + +class MockInstructionPacket(MockDynamixelPacketv2): + """ + Helper class to build valid Dynamixel Protocol 2.0 Instruction Packets with correct CRC. + + Protocol 2.0 Instruction Packet structure + (from https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction-packet) + + 0xFF 0xFF 0xFD 0x00 # 4-byte header + # typically 0x01 + # 2-byte length of (instruction+error+params+CRC) + # instruction type + # for a 4-byte read, we have 4 param bytes + # 16-bit CRC + """ + + @classmethod + def _build(cls, dxl_id: int, params: list[int], instruct_type: str): + instruct_value = INSTRUCTION_TYPES[instruct_type] + + # For Protocol 2.0, "length" = (number_of_params + 3), + # where: + # +1 is for byte, + # +2 is for the CRC at the end. + # The official Dynamixel SDK sometimes uses (+7) logic for sync reads + # because it includes special sub-parameters. But at core: + # length = (instruction byte) + (len(params)) + (CRC16 =2). + packet_length = len(params) + 3 + return bytearray( + [ + 0xFF, 0xFF, 0xFD, 0x00, # header + dxl_id, # servo id + packet_length & 0xFF, # length_l + (packet_length >> 8) & 0xFF, # length_h + instruct_value, # instruction type + *params, # data bytes + 0x00, 0x00 # placeholder for CRC + ] + ) # fmt: skip + + @classmethod + def sync_read( + cls, + dxl_ids: list[int], + start_address: int, + data_length: int, + ) -> bytes: + """ + Helper method to build a "Sync Read" broadcast instruction. + + The official SDK might add some “stuffing” or check param_length, + but this is enough for basic compliance if you want a raw packet. + + The parameters for Sync Read (Protocol 2.0) are: + param[0] = start_address L + param[1] = start_address H + param[2] = data_length L + param[3] = data_length H + param[4+] = motor IDs to read from + """ + # Example param: [LowAddr, HighAddr, LowLen, HighLen, ID1, ID2, ...] + params = [ + (start_address & 0xFF), + ((start_address >> 8) & 0xFF), + (data_length & 0xFF), + ((data_length >> 8) & 0xFF), + ] + dxl_ids + + # broadcast ID: 0xFE + return cls.build(dxl_id=0xFE, instruct_type="Sync_Read", params=params) + + +class MockStatusPacket(MockDynamixelPacketv2): + """ + Helper class to build valid Dynamixel Protocol 2.0 Status Packets with correct CRC. + + Protocol 2.0 Status Packet structure + (from https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet) + + 0xFF 0xFF 0xFD 0x00 # 4-byte header + # typically 0x01 + # 2-byte length of (instruction+error+params+CRC) + 0x55 # instruction = 0x55 means "status packet" + # 0 if no error + # for a 4-byte read, we have 4 param bytes + # 16-bit CRC + """ + + @classmethod + def _build(cls, dxl_id: int, params: list[int], status: str = "Success") -> bytearray: + status_byte = STATUS_TYPE[status] + return bytearray( + [ + 0xFF, 0xFF, 0xFD, 0x00, # header + dxl_id, # servo id + 0x08, 0x00, # length_l, length_h = 8 + 0x55, # instruction = status + status_byte, # status + *params, # data bytes + 0x00, 0x00 # placeholder for CRC + ] + ) # fmt: skip + + @classmethod + def present_position(cls, dxl_id: int, pos: int | None = None, min_max_range: tuple = (0, 4095)) -> bytes: + """Builds a 'Present_Position' packet. + + Args: + pos (int | None, optional): Desired 'Present_Position'. 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' + is None. Note that the bounds are included in the range. Defaults to (0, 4095). + + Returns: + bytes: The raw 'Present_Position' status packet ready to be sent through serial. + """ + pos = random.randint(*min_max_range) if pos is None else pos + # [lower pos 8 bits, higher pos 8 bits, 0, 0] + params = [pos & 0xFF, (pos >> 8) & 0xFF, 0, 0] + return cls.build(dxl_id, params) + + +class MockPortHandler(dxl.PortHandler): + def setupPort(self, baud): # noqa: N802 + if self.is_open: + self.closePort() + + self.ser = serial.Serial( + port=self.port_name, + # baudrate=self.baudrate, <- This is forbidden for ttys ports (on macos at least) + # parity = serial.PARITY_ODD, + # stopbits = serial.STOPBITS_TWO, + bytesize=serial.EIGHTBITS, + timeout=0, + ) + self.is_open = True + self.ser.reset_input_buffer() + self.tx_time_per_byte = (1000.0 / self.baudrate) * 10.0 + + return True + + +class MockMotors(MockSerial): + ctrl_table = X_SERIES_CONTROL_TABLE + + def __init__(self, dlx_ids: list[int], default_stubs: bool = True): + super().__init__() + self._ids = dlx_ids + self.open() + + if default_stubs: + self._create_stubs("Present_Position") + + def _create_stubs(self, data_name: str): + address, length = self.ctrl_table[data_name] + + # sync read all motors + sync_read_request_all = MockInstructionPacket.sync_read(self._ids, address, length) + sync_read_response_all = self._create_present_pos_send_fn(self._ids, data_name) + self.stub( + name=f"SyncRead_{data_name}_all", + receive_bytes=sync_read_request_all, + send_fn=sync_read_response_all, + ) + + # sync read single motors + for idx in self._ids: + sync_read_request_single = MockInstructionPacket.sync_read([idx], address, length) + sync_read_response_single = self._create_present_pos_send_fn([idx], data_name) + self.stub( + name=f"SyncRead_{data_name}_{idx}", + receive_bytes=sync_read_request_single, + send_fn=sync_read_response_single, + ) + + def _create_present_pos_send_fn( + self, dxl_ids: list[int], data_name: str, num_invalid_try: int | None = None + ) -> Callable[[int], bytes]: + # if data_name == "Present_Position": + # packet_generator = MockStatusPacket.present_position + # else: + # # TODO(aliberts): add "Goal_Position" + # raise NotImplementedError + + def send_fn(_call_count: int) -> bytes: + if num_invalid_try is not None and num_invalid_try >= _call_count: + return bytes(0) + + first_packet = MockStatusPacket.present_position(next(iter(dxl_ids))) + if len(dxl_ids) == 1: + return first_packet + + packets = first_packet + for idx in dxl_ids: + packets += MockStatusPacket.present_position(dxl_id=idx) + + return packets + + return send_fn