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Add handshake, fix feetech _read_firmware_version

This commit is contained in:
Simon Alibert 2025-04-14 17:14:06 +02:00
parent 3539251b18
commit 889de7c415
6 changed files with 71 additions and 47 deletions
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3
lerobot/common/motors/dynamixel/dynamixel.py
View File

@ -136,6 +136,9 @@ class DynamixelMotorsBus(MotorsBus):
def _assert_protocol_is_compatible(self, instruction_name: str) -> None: def _assert_protocol_is_compatible(self, instruction_name: str) -> None:
pass pass
def _handshake(self) -> None:
self._assert_motors_exist()
def configure_motors(self) -> None: def configure_motors(self) -> None:
# By default, Dynamixel motors have a 500µs delay response time (corresponding to a value of 250 on # By default, Dynamixel motors have a 500µs delay response time (corresponding to a value of 250 on
# the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0). # the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0).

21
lerobot/common/motors/feetech/feetech.py
View File

@ -22,6 +22,7 @@ from lerobot.common.utils.encoding_utils import decode_sign_magnitude, encode_si
from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value
from .tables import ( from .tables import (
FIRMWARE_MAJOR_VERSION, FIRMWARE_MAJOR_VERSION,
FIRMWARE_MINOR_VERSION,
MODEL_BAUDRATE_TABLE, MODEL_BAUDRATE_TABLE,
MODEL_CONTROL_TABLE, MODEL_CONTROL_TABLE,
MODEL_ENCODING_TABLE, MODEL_ENCODING_TABLE,
@ -150,6 +151,18 @@ class FeetechMotorsBus(MotorsBus):
"'Broadcast Ping' is not available with Feetech motors using Protocol 1. Use 'Ping' sequentially instead." "'Broadcast Ping' is not available with Feetech motors using Protocol 1. Use 'Ping' sequentially instead."
) )
def _assert_same_firmware(self) -> None:
firmware_versions = self._read_firmware_version(self.ids)
if len(set(firmware_versions.values())) != 1:
raise RuntimeError(
"Some Motors use different firmware versions. Update their firmware first using Feetech's software. "
"Visit https://www.feetechrc.com/software."
)
def _handshake(self) -> None:
self._assert_motors_exist()
self._assert_same_firmware()
def configure_motors(self) -> None: def configure_motors(self) -> None:
# By default, Feetech motors have a 500µs delay response time (corresponding to a value of 250 on the # By default, Feetech motors have a 500µs delay response time (corresponding to a value of 250 on the
# 'Return_Delay' address). We ensure this is reduced to the minimum of 2µs (value of 0). # 'Return_Delay' address). We ensure this is reduced to the minimum of 2µs (value of 0).
@ -317,9 +330,9 @@ class FeetechMotorsBus(MotorsBus):
display_dict = {id_: self.packet_handler.getRxPacketError(err) for id_, err in ids_errors.items()} display_dict = {id_: self.packet_handler.getRxPacketError(err) for id_, err in ids_errors.items()}
logger.error(f"Some motors found returned an error status:\n{pformat(display_dict, indent=4)}") logger.error(f"Some motors found returned an error status:\n{pformat(display_dict, indent=4)}")
return self._get_model_number(list(ids_status), raise_on_error) return self._read_model_number(list(ids_status), raise_on_error)
def _get_firmware_version(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, str]: def _read_firmware_version(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, str]:
firmware_versions = {} firmware_versions = {}
for id_ in motor_ids: for id_ in motor_ids:
firm_ver_major, comm, error = self._read( firm_ver_major, comm, error = self._read(
@ -329,7 +342,7 @@ class FeetechMotorsBus(MotorsBus):
return return
firm_ver_minor, comm, error = self._read( firm_ver_minor, comm, error = self._read(
*FIRMWARE_MAJOR_VERSION, id_, raise_on_error=raise_on_error *FIRMWARE_MINOR_VERSION, id_, raise_on_error=raise_on_error
) )
if not self._is_comm_success(comm) or self._is_error(error): if not self._is_comm_success(comm) or self._is_error(error):
return return
@ -338,7 +351,7 @@ class FeetechMotorsBus(MotorsBus):
return firmware_versions return firmware_versions
def _get_model_number(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, int]: def _read_model_number(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, int]:
model_numbers = {} model_numbers = {}
for id_ in motor_ids: for id_ in motor_ids:
model_nb, comm, error = self._read(*MODEL_NUMBER, id_, raise_on_error=raise_on_error) model_nb, comm, error = self._read(*MODEL_NUMBER, id_, raise_on_error=raise_on_error)

20
lerobot/common/motors/motors_bus.py
View File

@ -377,9 +377,13 @@ class MotorsBus(abc.ABC):
def _assert_motors_exist(self) -> None: def _assert_motors_exist(self) -> None:
# TODO(aliberts): collect all wrong ids/models and display them at once # TODO(aliberts): collect all wrong ids/models and display them at once
found_models = self.broadcast_ping() found_models = {}
for id_ in self.ids:
model_nb = self.ping(id_)
if model_nb is not None:
found_models[id_] = model_nb
expected_models = {m.id: self.model_number_table[m.model] for m in self.motors.values()} expected_models = {m.id: self.model_number_table[m.model] for m in self.motors.values()}
if not found_models or set(found_models) != set(self.ids): if set(found_models) != set(self.ids):
raise RuntimeError( raise RuntimeError(
f"{self.__class__.__name__} is supposed to have these motors: ({{id: model_nb}})" f"{self.__class__.__name__} is supposed to have these motors: ({{id: model_nb}})"
f"\n{pformat(expected_models, indent=4, sort_dicts=False)}\n" f"\n{pformat(expected_models, indent=4, sort_dicts=False)}\n"
@ -403,7 +407,7 @@ class MotorsBus(abc.ABC):
def is_connected(self) -> bool: def is_connected(self) -> bool:
return self.port_handler.is_open return self.port_handler.is_open
def connect(self, assert_motors_exist: bool = True) -> None: def connect(self, handshake: bool = True) -> None:
if self.is_connected: if self.is_connected:
raise DeviceAlreadyConnectedError( raise DeviceAlreadyConnectedError(
f"{self.__class__.__name__}('{self.port}') is already connected. Do not call `{self.__class__.__name__}.connect()` twice." f"{self.__class__.__name__}('{self.port}') is already connected. Do not call `{self.__class__.__name__}.connect()` twice."
@ -412,8 +416,8 @@ class MotorsBus(abc.ABC):
try: try:
if not self.port_handler.openPort(): if not self.port_handler.openPort():
raise OSError(f"Failed to open port '{self.port}'.") raise OSError(f"Failed to open port '{self.port}'.")
elif assert_motors_exist: elif handshake:
self._assert_motors_exist() self._handshake()
except (FileNotFoundError, OSError, serial.SerialException) as e: except (FileNotFoundError, OSError, serial.SerialException) as e:
raise ConnectionError( raise ConnectionError(
f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port." f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port."
@ -423,6 +427,10 @@ class MotorsBus(abc.ABC):
self.set_timeout() self.set_timeout()
logger.debug(f"{self.__class__.__name__} connected.") logger.debug(f"{self.__class__.__name__} connected.")
@abc.abstractmethod
def _handshake(self) -> None:
pass
@classmethod @classmethod
def scan_port(cls, port: str, *args, **kwargs) -> dict[int, list[int]]: def scan_port(cls, port: str, *args, **kwargs) -> dict[int, list[int]]:
bus = cls(port, {}, *args, **kwargs) bus = cls(port, {}, *args, **kwargs)
@ -690,7 +698,7 @@ class MotorsBus(abc.ABC):
return return
if self._is_error(error): if self._is_error(error):
if raise_on_error: if raise_on_error:
raise RuntimeError(self.packet_handler.getTxRxResult(comm)) raise RuntimeError(self.packet_handler.getRxPacketError(error))
else: else:
return return

30
tests/motors/test_dynamixel.py
View File

@ -91,7 +91,7 @@ def test_ping(id_, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model] expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
stub = mock_motors.build_ping_stub(id_, expected_model_nb) stub = mock_motors.build_ping_stub(id_, expected_model_nb)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
ping_model_nb = bus.ping(id_) ping_model_nb = bus.ping(id_)
@ -104,7 +104,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
expected_model_nbs = {id_: MODEL_NUMBER_TABLE[model] for id_, model in models.items()} expected_model_nbs = {id_: MODEL_NUMBER_TABLE[model] for id_, model in models.items()}
stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs) stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
ping_model_nbs = bus.broadcast_ping() ping_model_nbs = bus.broadcast_ping()
@ -123,7 +123,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
def test__read(addr, length, id_, value, mock_motors, dummy_motors): def test__read(addr, length, id_, value, mock_motors, dummy_motors):
stub = mock_motors.build_read_stub(addr, length, id_, value) stub = mock_motors.build_read_stub(addr, length, id_, value)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
read_value, _, _ = bus._read(addr, length, id_) read_value, _, _ = bus._read(addr, length, id_)
@ -136,7 +136,7 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT) addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
stub = mock_motors.build_read_stub(addr, length, id_, value, error=error) stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises( with pytest.raises(
@ -155,7 +155,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337) addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False) stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")): with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@ -178,7 +178,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
def test__write(addr, length, id_, value, mock_motors, dummy_motors): def test__write(addr, length, id_, value, mock_motors, dummy_motors):
stub = mock_motors.build_write_stub(addr, length, id_, value) stub = mock_motors.build_write_stub(addr, length, id_, value)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
comm, error = bus._write(addr, length, id_, value) comm, error = bus._write(addr, length, id_, value)
@ -192,7 +192,7 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT) addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
stub = mock_motors.build_write_stub(addr, length, id_, value, error=error) stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises( with pytest.raises(
@ -211,7 +211,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337) addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False) stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")): with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@ -235,7 +235,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors): def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_read_stub(addr, length, ids_values) stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
read_values, _ = bus._sync_read(addr, length, list(ids_values)) read_values, _ = bus._sync_read(addr, length, list(ids_values))
@ -248,7 +248,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, ids_values = (10, 4, {1: 1337}) addr, length, ids_values = (10, 4, {1: 1337})
stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False) stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")): with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@ -272,7 +272,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors): def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_write_stub(addr, length, ids_values) stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
comm = bus._sync_write(addr, length, ids_values) comm = bus._sync_write(addr, length, ids_values)
@ -294,7 +294,7 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
motors=dummy_motors, motors=dummy_motors,
calibration=dummy_calibration, calibration=dummy_calibration,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
is_calibrated = bus.is_calibrated is_calibrated = bus.is_calibrated
@ -321,7 +321,7 @@ def test_reset_calibration(mock_motors, dummy_motors):
) )
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
bus.reset_calibration() bus.reset_calibration()
@ -355,7 +355,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
write_homing_stubs.append(stub) write_homing_stubs.append(stub)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
bus.reset_calibration = MagicMock() bus.reset_calibration = MagicMock()
bus.set_half_turn_homings() bus.set_half_turn_homings()
@ -386,7 +386,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
) )
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]): with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
mins, maxes = bus.record_ranges_of_motion(display_values=False) mins, maxes = bus.record_ranges_of_motion(display_values=False)

30
tests/motors/test_feetech.py
View File

@ -101,7 +101,7 @@ def test_ping(id_, mock_motors, dummy_motors):
port=mock_motors.port, port=mock_motors.port,
motors=dummy_motors, motors=dummy_motors,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
ping_model_nb = bus.ping(id_) ping_model_nb = bus.ping(id_)
@ -125,7 +125,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
port=mock_motors.port, port=mock_motors.port,
motors=dummy_motors, motors=dummy_motors,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
ping_model_nbs = bus.broadcast_ping() ping_model_nbs = bus.broadcast_ping()
@ -148,7 +148,7 @@ def test__read(addr, length, id_, value, mock_motors, dummy_motors):
port=mock_motors.port, port=mock_motors.port,
motors=dummy_motors, motors=dummy_motors,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
read_value, _, _ = bus._read(addr, length, id_) read_value, _, _ = bus._read(addr, length, id_)
@ -164,7 +164,7 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
port=mock_motors.port, port=mock_motors.port,
motors=dummy_motors, motors=dummy_motors,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")): with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
@ -184,7 +184,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
port=mock_motors.port, port=mock_motors.port,
motors=dummy_motors, motors=dummy_motors,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")): with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@ -210,7 +210,7 @@ def test__write(addr, length, id_, value, mock_motors, dummy_motors):
port=mock_motors.port, port=mock_motors.port,
motors=dummy_motors, motors=dummy_motors,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
comm, error = bus._write(addr, length, id_, value) comm, error = bus._write(addr, length, id_, value)
@ -224,7 +224,7 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, scs.ERRBIT_VOLTAGE) addr, length, id_, value, error = (10, 4, 1, 1337, scs.ERRBIT_VOLTAGE)
stub = mock_motors.build_write_stub(addr, length, id_, value, error=error) stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")): with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
@ -241,7 +241,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337) addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False) stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")): with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@ -265,7 +265,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors): def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_read_stub(addr, length, ids_values) stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
read_values, _ = bus._sync_read(addr, length, list(ids_values)) read_values, _ = bus._sync_read(addr, length, list(ids_values))
@ -278,7 +278,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, ids_values = (10, 4, {1: 1337}) addr, length, ids_values = (10, 4, {1: 1337})
stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False) stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
if raise_on_error: if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")): with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@ -302,7 +302,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors): def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_write_stub(addr, length, ids_values) stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
comm = bus._sync_write(addr, length, ids_values) comm = bus._sync_write(addr, length, ids_values)
@ -324,7 +324,7 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
motors=dummy_motors, motors=dummy_motors,
calibration=dummy_calibration, calibration=dummy_calibration,
) )
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
is_calibrated = bus.is_calibrated is_calibrated = bus.is_calibrated
@ -350,7 +350,7 @@ def test_reset_calibration(mock_motors, dummy_motors):
) )
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
bus.reset_calibration() bus.reset_calibration()
@ -386,7 +386,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
write_homing_stubs.append(stub) write_homing_stubs.append(stub)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
bus.reset_calibration = MagicMock() bus.reset_calibration = MagicMock()
bus.set_half_turn_homings() bus.set_half_turn_homings()
@ -417,7 +417,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
) )
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]): with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors) bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
mins, maxes = bus.record_ranges_of_motion(display_values=False) mins, maxes = bus.record_ranges_of_motion(display_values=False)

14
tests/motors/test_motors_bus.py
View File

@ -227,7 +227,7 @@ def test__serialize_data_large_number():
) )
def test_read(data_name, id_, value, dummy_motors): def test_read(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors) bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name] addr, length = DUMMY_CTRL_TABLE_2[data_name]
with ( with (
@ -261,7 +261,7 @@ def test_read(data_name, id_, value, dummy_motors):
) )
def test_write(data_name, id_, value, dummy_motors): def test_write(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors) bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name] addr, length = DUMMY_CTRL_TABLE_2[data_name]
with ( with (
@ -296,7 +296,7 @@ def test_write(data_name, id_, value, dummy_motors):
) )
def test_sync_read_by_str(data_name, id_, value, dummy_motors): def test_sync_read_by_str(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors) bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name] addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = [id_] ids = [id_]
expected_value = {f"dummy_{id_}": value} expected_value = {f"dummy_{id_}": value}
@ -333,7 +333,7 @@ def test_sync_read_by_str(data_name, id_, value, dummy_motors):
) )
def test_sync_read_by_list(data_name, ids_values, dummy_motors): def test_sync_read_by_list(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors) bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name] addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = list(ids_values) ids = list(ids_values)
expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()} expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@ -370,7 +370,7 @@ def test_sync_read_by_list(data_name, ids_values, dummy_motors):
) )
def test_sync_read_by_none(data_name, ids_values, dummy_motors): def test_sync_read_by_none(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors) bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name] addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = list(ids_values) ids = list(ids_values)
expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()} expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@ -406,7 +406,7 @@ def test_sync_read_by_none(data_name, ids_values, dummy_motors):
) )
def test_sync_write_by_single_value(data_name, value, dummy_motors): def test_sync_write_by_single_value(data_name, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors) bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name] addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids_values = {m.id: value for m in dummy_motors.values()} ids_values = {m.id: value for m in dummy_motors.values()}
@ -441,7 +441,7 @@ def test_sync_write_by_single_value(data_name, value, dummy_motors):
) )
def test_sync_write_by_value_dict(data_name, ids_values, dummy_motors): def test_sync_write_by_value_dict(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors) bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False) bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name] addr, length = DUMMY_CTRL_TABLE_2[data_name]
values = {f"dummy_{id_}": val for id_, val in ids_values.items()} values = {f"dummy_{id_}": val for id_, val in ids_values.items()}