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This commit is contained in:
Simon Alibert 2025-03-23 17:05:08 +01:00
parent 0ac026b521
commit 97194bf7f3
1 changed files with 13 additions and 13 deletions
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26
tests/motors/test_dynamixel.py
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@ -147,22 +147,22 @@ def test_sync_read_none(mock_motors, dummy_motors):
) )
motors_bus.connect() motors_bus.connect()
positions_read = motors_bus.sync_read("Present_Position") read_positions = motors_bus.sync_read("Present_Position")
assert mock_motors.stubs[stub_name].called assert mock_motors.stubs[stub_name].called
assert positions_read == expected_positions assert read_positions == expected_positions
@pytest.mark.parametrize( @pytest.mark.parametrize(
"dxl_id, position", "id_, position",
[ [
(1, 1337), (1, 1337),
(2, 42), (2, 42),
(3, 4016), (3, 4016),
], ],
) )
def test_sync_read_by_id(dxl_id, position, mock_motors, dummy_motors): def test_sync_read_by_id(id_, position, mock_motors, dummy_motors):
expected_position = {dxl_id: position} expected_position = {id_: position}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position) stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
motors_bus = DynamixelMotorsBus( motors_bus = DynamixelMotorsBus(
port=mock_motors.port, port=mock_motors.port,
@ -170,10 +170,10 @@ def test_sync_read_by_id(dxl_id, position, mock_motors, dummy_motors):
) )
motors_bus.connect() motors_bus.connect()
positions_read = motors_bus.sync_read("Present_Position", dxl_id) read_position = motors_bus.sync_read("Present_Position", id_)
assert mock_motors.stubs[stub_name].called assert mock_motors.stubs[stub_name].called
assert positions_read == expected_position assert read_position == expected_position
@pytest.mark.parametrize( @pytest.mark.parametrize(
@ -195,10 +195,10 @@ def test_sync_read_by_ids(ids, positions, mock_motors, dummy_motors):
) )
motors_bus.connect() motors_bus.connect()
positions_read = motors_bus.sync_read("Present_Position", ids) read_positions = motors_bus.sync_read("Present_Position", ids)
assert mock_motors.stubs[stub_name].called assert mock_motors.stubs[stub_name].called
assert positions_read == expected_positions assert read_positions == expected_positions
@pytest.mark.parametrize( @pytest.mark.parametrize(
@ -218,10 +218,10 @@ def test_sync_read_by_name(id_, position, mock_motors, dummy_motors):
) )
motors_bus.connect() motors_bus.connect()
positions_read = motors_bus.sync_read("Present_Position", f"dummy_{id_}") read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}")
assert mock_motors.stubs[stub_name].called assert mock_motors.stubs[stub_name].called
assert positions_read == expected_position assert read_position == expected_position
@pytest.mark.parametrize( @pytest.mark.parametrize(
@ -245,10 +245,10 @@ def test_sync_read_by_names(ids, positions, mock_motors, dummy_motors):
) )
motors_bus.connect() motors_bus.connect()
positions_read = motors_bus.sync_read("Present_Position", names) read_positions = motors_bus.sync_read("Present_Position", names)
assert mock_motors.stubs[stub_name].called assert mock_motors.stubs[stub_name].called
assert positions_read == expected_positions assert read_positions == expected_positions
@pytest.mark.parametrize( @pytest.mark.parametrize(