Add handshake, fix feetech _read_firmware_version
This commit is contained in:
Simon Alibert
parent
3539251b18
commit
889de7c415
|
|
@ -136,6 +136,9 @@ class DynamixelMotorsBus(MotorsBus):
|
|||
def _assert_protocol_is_compatible(self, instruction_name: str) -> None:
|
||||
pass
|
||||
|
||||
def _handshake(self) -> None:
|
||||
self._assert_motors_exist()
|
||||
|
||||
def configure_motors(self) -> None:
|
||||
# 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).
|
||||
|
|
|
|||
|
|
@ -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 .tables import (
|
||||
FIRMWARE_MAJOR_VERSION,
|
||||
FIRMWARE_MINOR_VERSION,
|
||||
MODEL_BAUDRATE_TABLE,
|
||||
MODEL_CONTROL_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."
|
||||
)
|
||||
|
||||
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:
|
||||
# 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).
|
||||
|
|
@ -317,9 +330,9 @@ class FeetechMotorsBus(MotorsBus):
|
|||
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)}")
|
||||
|
||||
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 = {}
|
||||
for id_ in motor_ids:
|
||||
firm_ver_major, comm, error = self._read(
|
||||
|
|
@ -329,7 +342,7 @@ class FeetechMotorsBus(MotorsBus):
|
|||
return
|
||||
|
||||
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):
|
||||
return
|
||||
|
|
@ -338,7 +351,7 @@ class FeetechMotorsBus(MotorsBus):
|
|||
|
||||
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 = {}
|
||||
for id_ in motor_ids:
|
||||
model_nb, comm, error = self._read(*MODEL_NUMBER, id_, raise_on_error=raise_on_error)
|
||||
|
|
|
|||
|
|
@ -377,9 +377,13 @@ class MotorsBus(abc.ABC):
|
|||
|
||||
def _assert_motors_exist(self) -> None:
|
||||
# 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()}
|
||||
if not found_models or set(found_models) != set(self.ids):
|
||||
if set(found_models) != set(self.ids):
|
||||
raise RuntimeError(
|
||||
f"{self.__class__.__name__} is supposed to have these motors: ({{id: model_nb}})"
|
||||
f"\n{pformat(expected_models, indent=4, sort_dicts=False)}\n"
|
||||
|
|
@ -403,7 +407,7 @@ class MotorsBus(abc.ABC):
|
|||
def is_connected(self) -> bool:
|
||||
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:
|
||||
raise DeviceAlreadyConnectedError(
|
||||
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:
|
||||
if not self.port_handler.openPort():
|
||||
raise OSError(f"Failed to open port '{self.port}'.")
|
||||
elif assert_motors_exist:
|
||||
self._assert_motors_exist()
|
||||
elif handshake:
|
||||
self._handshake()
|
||||
except (FileNotFoundError, OSError, serial.SerialException) as e:
|
||||
raise ConnectionError(
|
||||
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()
|
||||
logger.debug(f"{self.__class__.__name__} connected.")
|
||||
|
||||
@abc.abstractmethod
|
||||
def _handshake(self) -> None:
|
||||
pass
|
||||
|
||||
@classmethod
|
||||
def scan_port(cls, port: str, *args, **kwargs) -> dict[int, list[int]]:
|
||||
bus = cls(port, {}, *args, **kwargs)
|
||||
|
|
@ -690,7 +698,7 @@ class MotorsBus(abc.ABC):
|
|||
return
|
||||
if self._is_error(error):
|
||||
if raise_on_error:
|
||||
raise RuntimeError(self.packet_handler.getTxRxResult(comm))
|
||||
raise RuntimeError(self.packet_handler.getRxPacketError(error))
|
||||
else:
|
||||
return
|
||||
|
||||
|
|
|
|||
|
|
@ -91,7 +91,7 @@ def test_ping(id_, mock_motors, dummy_motors):
|
|||
expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
|
||||
stub = mock_motors.build_ping_stub(id_, expected_model_nb)
|
||||
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_)
|
||||
|
||||
|
|
@ -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()}
|
||||
stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
|
||||
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()
|
||||
|
||||
|
|
@ -123,7 +123,7 @@ def test_broadcast_ping(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)
|
||||
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_)
|
||||
|
||||
|
|
@ -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)
|
||||
stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
|
||||
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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)
|
||||
stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
|
||||
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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):
|
||||
stub = mock_motors.build_write_stub(addr, length, id_, value)
|
||||
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)
|
||||
|
||||
|
|
@ -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)
|
||||
stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
|
||||
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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)
|
||||
stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
|
||||
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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):
|
||||
stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
|
||||
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))
|
||||
|
||||
|
|
@ -248,7 +248,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
|
|||
addr, length, ids_values = (10, 4, {1: 1337})
|
||||
stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
|
||||
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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):
|
||||
stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
|
||||
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)
|
||||
|
||||
|
|
@ -294,7 +294,7 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
|
|||
motors=dummy_motors,
|
||||
calibration=dummy_calibration,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
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.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
bus.reset_calibration()
|
||||
|
||||
|
|
@ -355,7 +355,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
|
|||
write_homing_stubs.append(stub)
|
||||
|
||||
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
bus.reset_calibration = MagicMock()
|
||||
|
||||
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]):
|
||||
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)
|
||||
|
||||
|
|
|
|||
|
|
@ -101,7 +101,7 @@ def test_ping(id_, mock_motors, dummy_motors):
|
|||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
ping_model_nb = bus.ping(id_)
|
||||
|
||||
|
|
@ -125,7 +125,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
|
|||
port=mock_motors.port,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
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,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
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,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_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,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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,
|
||||
motors=dummy_motors,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
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)
|
||||
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)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_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)
|
||||
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)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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):
|
||||
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)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
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})
|
||||
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)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
if raise_on_error:
|
||||
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):
|
||||
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)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
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,
|
||||
calibration=dummy_calibration,
|
||||
)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
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.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
|
||||
bus.reset_calibration()
|
||||
|
||||
|
|
@ -386,7 +386,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
|
|||
write_homing_stubs.append(stub)
|
||||
|
||||
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
|
||||
bus.connect(assert_motors_exist=False)
|
||||
bus.connect(handshake=False)
|
||||
bus.reset_calibration = MagicMock()
|
||||
|
||||
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]):
|
||||
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)
|
||||
|
||||
|
|
|
|||
|
|
@ -227,7 +227,7 @@ def test__serialize_data_large_number():
|
|||
)
|
||||
def test_read(data_name, id_, value, 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]
|
||||
|
||||
with (
|
||||
|
|
@ -261,7 +261,7 @@ def test_read(data_name, id_, value, dummy_motors):
|
|||
)
|
||||
def test_write(data_name, id_, value, 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]
|
||||
|
||||
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):
|
||||
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]
|
||||
ids = [id_]
|
||||
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):
|
||||
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]
|
||||
ids = list(ids_values)
|
||||
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):
|
||||
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]
|
||||
ids = list(ids_values)
|
||||
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):
|
||||
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]
|
||||
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):
|
||||
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]
|
||||
values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue