Remove mock_feetech sdk & add feetech new tests
This commit is contained in:
Simon Alibert
parent
a15767aff1
commit
bc020ee0a4
|
|
@ -1,151 +0,0 @@
|
||||||
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
# ruff: noqa: N802, E741
|
|
||||||
|
|
||||||
"""
|
|
||||||
Mocked classes and functions from scservo_sdk to allow for testing FeetechMotorsBus code.
|
|
||||||
|
|
||||||
Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
|
|
||||||
from the original classes and functions (e.g. return types might be None instead of boolean).
|
|
||||||
"""
|
|
||||||
|
|
||||||
DEFAULT_BAUDRATE = 1_000_000
|
|
||||||
COMM_SUCCESS = 0 # tx or rx packet communication success
|
|
||||||
|
|
||||||
|
|
||||||
def convert_to_bytes(value, bytes):
|
|
||||||
# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
|
|
||||||
# `convert_bytes_to_value`
|
|
||||||
del bytes # unused
|
|
||||||
return value
|
|
||||||
|
|
||||||
|
|
||||||
def get_default_motor_values(motor_index):
|
|
||||||
return {
|
|
||||||
# Key (int) are from SCS_SERIES_CONTROL_TABLE
|
|
||||||
5: motor_index, # ID
|
|
||||||
6: DEFAULT_BAUDRATE, # Baud_rate
|
|
||||||
10: 0, # Drive_Mode
|
|
||||||
21: 32, # P_Coefficient
|
|
||||||
22: 32, # D_Coefficient
|
|
||||||
23: 0, # I_Coefficient
|
|
||||||
40: 0, # Torque_Enable
|
|
||||||
41: 254, # Acceleration
|
|
||||||
31: -2047, # Offset
|
|
||||||
33: 0, # Mode
|
|
||||||
55: 1, # Lock
|
|
||||||
# Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144
|
|
||||||
# For other joints, 2560 will be autocorrected to be in calibration range
|
|
||||||
56: 2560, # Present_Position
|
|
||||||
58: 0, # Present_Speed
|
|
||||||
69: 0, # Present_Current
|
|
||||||
85: 150, # Maximum_Acceleration
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
# Macro for Control Table Value
|
|
||||||
def SCS_MAKEWORD(a, b):
|
|
||||||
return (a & 0xFF) | ((b & 0xFF) << 8)
|
|
||||||
|
|
||||||
|
|
||||||
def SCS_MAKEDWORD(a, b):
|
|
||||||
return (a & 0xFFFF) | (b & 0xFFFF) << 16
|
|
||||||
|
|
||||||
|
|
||||||
def SCS_LOWORD(l):
|
|
||||||
return l & 0xFFFF
|
|
||||||
|
|
||||||
|
|
||||||
def SCS_HIWORD(l):
|
|
||||||
return (l >> 16) & 0xFFFF
|
|
||||||
|
|
||||||
|
|
||||||
def SCS_LOBYTE(w):
|
|
||||||
return w & 0xFF
|
|
||||||
|
|
||||||
|
|
||||||
def SCS_HIBYTE(w):
|
|
||||||
return (w >> 8) & 0xFF
|
|
||||||
|
|
||||||
|
|
||||||
class PortHandler:
|
|
||||||
def __init__(self, port):
|
|
||||||
self.port = port
|
|
||||||
# factory default baudrate
|
|
||||||
self.baudrate = DEFAULT_BAUDRATE
|
|
||||||
self.ser = SerialMock()
|
|
||||||
|
|
||||||
def openPort(self): # noqa: N802
|
|
||||||
return True
|
|
||||||
|
|
||||||
def closePort(self): # noqa: N802
|
|
||||||
pass
|
|
||||||
|
|
||||||
def setPacketTimeoutMillis(self, timeout_ms): # noqa: N802
|
|
||||||
del timeout_ms # unused
|
|
||||||
|
|
||||||
def getBaudRate(self): # noqa: N802
|
|
||||||
return self.baudrate
|
|
||||||
|
|
||||||
def setBaudRate(self, baudrate): # noqa: N802
|
|
||||||
self.baudrate = baudrate
|
|
||||||
|
|
||||||
|
|
||||||
class PacketHandler:
|
|
||||||
def __init__(self, protocol_version):
|
|
||||||
del protocol_version # unused
|
|
||||||
# Use packet_handler.data to communicate across Read and Write
|
|
||||||
self.data = {}
|
|
||||||
|
|
||||||
|
|
||||||
class GroupSyncRead:
|
|
||||||
def __init__(self, port_handler, packet_handler, address, bytes):
|
|
||||||
self.packet_handler = packet_handler
|
|
||||||
|
|
||||||
def addParam(self, motor_index): # noqa: N802
|
|
||||||
# Initialize motor default values
|
|
||||||
if motor_index not in self.packet_handler.data:
|
|
||||||
self.packet_handler.data[motor_index] = get_default_motor_values(motor_index)
|
|
||||||
|
|
||||||
def txRxPacket(self): # noqa: N802
|
|
||||||
return COMM_SUCCESS
|
|
||||||
|
|
||||||
def getData(self, index, address, bytes): # noqa: N802
|
|
||||||
return self.packet_handler.data[index][address]
|
|
||||||
|
|
||||||
|
|
||||||
class GroupSyncWrite:
|
|
||||||
def __init__(self, port_handler, packet_handler, address, bytes):
|
|
||||||
self.packet_handler = packet_handler
|
|
||||||
self.address = address
|
|
||||||
|
|
||||||
def addParam(self, index, data): # noqa: N802
|
|
||||||
if index not in self.packet_handler.data:
|
|
||||||
self.packet_handler.data[index] = get_default_motor_values(index)
|
|
||||||
self.changeParam(index, data)
|
|
||||||
|
|
||||||
def txPacket(self): # noqa: N802
|
|
||||||
return COMM_SUCCESS
|
|
||||||
|
|
||||||
def changeParam(self, index, data): # noqa: N802
|
|
||||||
self.packet_handler.data[index][self.address] = data
|
|
||||||
|
|
||||||
|
|
||||||
class SerialMock:
|
|
||||||
def reset_output_buffer(self):
|
|
||||||
pass
|
|
||||||
|
|
||||||
def reset_input_buffer(self):
|
|
||||||
pass
|
|
||||||
|
|
@ -2,43 +2,195 @@ import sys
|
||||||
from unittest.mock import patch
|
from unittest.mock import patch
|
||||||
|
|
||||||
import pytest
|
import pytest
|
||||||
|
import scservo_sdk as scs
|
||||||
|
|
||||||
from lerobot.common.motors.feetech import FeetechMotorsBus
|
from lerobot.common.motors.feetech import FeetechMotorsBus
|
||||||
from tests.mocks import mock_scservo_sdk
|
from tests.mocks.mock_feetech import MockMotors, MockPortHandler
|
||||||
|
|
||||||
|
|
||||||
@pytest.fixture(autouse=True)
|
@pytest.fixture(autouse=True)
|
||||||
def patch_scservo_sdk():
|
def patch_port_handler():
|
||||||
with patch.dict(sys.modules, {"scservo_sdk": mock_scservo_sdk}):
|
if sys.platform == "darwin":
|
||||||
|
with patch.object(scs, "PortHandler", MockPortHandler):
|
||||||
|
yield
|
||||||
|
else:
|
||||||
yield
|
yield
|
||||||
|
|
||||||
|
|
||||||
def test_patch_sdk():
|
@pytest.mark.skipif(sys.platform != "darwin", reason=f"No patching needed on {sys.platform=}")
|
||||||
assert "scservo_sdk" in sys.modules # Should be patched
|
def test_autouse_patch():
|
||||||
assert sys.modules["scservo_sdk"] is mock_scservo_sdk # Should match the mock
|
"""Ensures that the autouse fixture correctly patches scs.PortHandler with MockPortHandler."""
|
||||||
|
assert scs.PortHandler is MockPortHandler
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.parametrize(
|
||||||
|
"value, n_bytes, expected",
|
||||||
|
[
|
||||||
|
(0x12, 1, [0x12]),
|
||||||
|
(0x1234, 2, [0x34, 0x12]),
|
||||||
|
(0x12345678, 4, [0x78, 0x56, 0x34, 0x12]),
|
||||||
|
(0, 1, [0x00]),
|
||||||
|
(0, 2, [0x00, 0x00]),
|
||||||
|
(0, 4, [0x00, 0x00, 0x00, 0x00]),
|
||||||
|
(255, 1, [0xFF]),
|
||||||
|
(65535, 2, [0xFF, 0xFF]),
|
||||||
|
(4294967295, 4, [0xFF, 0xFF, 0xFF, 0xFF]),
|
||||||
|
],
|
||||||
|
ids=[
|
||||||
|
"1 byte",
|
||||||
|
"2 bytes",
|
||||||
|
"4 bytes",
|
||||||
|
"0 with 1 byte",
|
||||||
|
"0 with 2 bytes",
|
||||||
|
"0 with 4 bytes",
|
||||||
|
"max single byte",
|
||||||
|
"max two bytes",
|
||||||
|
"max four bytes",
|
||||||
|
],
|
||||||
|
) # fmt: skip
|
||||||
|
def test_split_int_bytes(value, n_bytes, expected):
|
||||||
|
assert FeetechMotorsBus.split_int_bytes(value, n_bytes) == expected
|
||||||
|
|
||||||
|
|
||||||
|
def test_split_int_bytes_invalid_n_bytes():
|
||||||
|
with pytest.raises(NotImplementedError):
|
||||||
|
FeetechMotorsBus.split_int_bytes(100, 3)
|
||||||
|
|
||||||
|
|
||||||
|
def test_split_int_bytes_negative_numbers():
|
||||||
|
with pytest.raises(ValueError):
|
||||||
|
neg = FeetechMotorsBus.split_int_bytes(-1, 1)
|
||||||
|
print(neg)
|
||||||
|
|
||||||
|
|
||||||
|
def test_split_int_bytes_large_number():
|
||||||
|
with pytest.raises(ValueError):
|
||||||
|
FeetechMotorsBus.split_int_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
|
||||||
|
|
||||||
|
|
||||||
def test_abc_implementation():
|
def test_abc_implementation():
|
||||||
# Instantiation should raise an error if the class doesn't implements abstract methods/properties
|
"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
|
||||||
FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
|
FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
|
||||||
|
|
||||||
|
|
||||||
def test_configure_motors_all_ids_1():
|
@pytest.mark.parametrize(
|
||||||
# see SCS_SERIES_BAUDRATE_TABLE
|
"motors",
|
||||||
smaller_baudrate = 19_200
|
[
|
||||||
smaller_baudrate_value = 7
|
None,
|
||||||
|
[1, 2, 3],
|
||||||
# This test expect the configuration was already correct.
|
["dummy_1", "dummy_2", "dummy_3"],
|
||||||
motors_bus = FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
|
[1, "dummy_2", 3],
|
||||||
|
],
|
||||||
|
ids=["None", "by ids", "by names", "mixed"],
|
||||||
|
)
|
||||||
|
def test_read_all_motors(motors):
|
||||||
|
mock_motors = MockMotors([1, 2, 3])
|
||||||
|
positions = [1337, 42, 4016]
|
||||||
|
mock_motors.build_all_motors_stub("Present_Position", return_values=positions)
|
||||||
|
motors_bus = FeetechMotorsBus(
|
||||||
|
port=mock_motors.port,
|
||||||
|
motors={
|
||||||
|
"dummy_1": (1, "sts3215"),
|
||||||
|
"dummy_2": (2, "sts3215"),
|
||||||
|
"dummy_3": (3, "sts3215"),
|
||||||
|
},
|
||||||
|
)
|
||||||
motors_bus.connect()
|
motors_bus.connect()
|
||||||
motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus))
|
|
||||||
|
|
||||||
motors_bus.set_baudrate(smaller_baudrate)
|
pos_dict = motors_bus.read("Present_Position", motors=motors)
|
||||||
motors_bus.write("ID", [1] * len(motors_bus))
|
|
||||||
del motors_bus
|
|
||||||
|
|
||||||
# Test configure
|
assert mock_motors.stubs["SyncRead_Present_Position_all"].called
|
||||||
motors_bus = FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
|
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())
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.parametrize(
|
||||||
|
"idx, pos",
|
||||||
|
[
|
||||||
|
[1, 1337],
|
||||||
|
[2, 42],
|
||||||
|
[3, 4016],
|
||||||
|
],
|
||||||
|
)
|
||||||
|
def test_read_single_motor_by_name(idx, pos):
|
||||||
|
mock_motors = MockMotors([1, 2, 3])
|
||||||
|
mock_motors.build_single_motor_stubs("Present_Position", return_value=pos)
|
||||||
|
motors_bus = FeetechMotorsBus(
|
||||||
|
port=mock_motors.port,
|
||||||
|
motors={
|
||||||
|
"dummy_1": (1, "sts3215"),
|
||||||
|
"dummy_2": (2, "sts3215"),
|
||||||
|
"dummy_3": (3, "sts3215"),
|
||||||
|
},
|
||||||
|
)
|
||||||
motors_bus.connect()
|
motors_bus.connect()
|
||||||
assert motors_bus.are_motors_configured()
|
|
||||||
del motors_bus
|
pos_dict = motors_bus.read("Present_Position", f"dummy_{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())
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.parametrize(
|
||||||
|
"idx, pos",
|
||||||
|
[
|
||||||
|
[1, 1337],
|
||||||
|
[2, 42],
|
||||||
|
[3, 4016],
|
||||||
|
],
|
||||||
|
)
|
||||||
|
def test_read_single_motor_by_id(idx, pos):
|
||||||
|
mock_motors = MockMotors([1, 2, 3])
|
||||||
|
mock_motors.build_single_motor_stubs("Present_Position", return_value=pos)
|
||||||
|
motors_bus = FeetechMotorsBus(
|
||||||
|
port=mock_motors.port,
|
||||||
|
motors={
|
||||||
|
"dummy_1": (1, "sts3215"),
|
||||||
|
"dummy_2": (2, "sts3215"),
|
||||||
|
"dummy_3": (3, "sts3215"),
|
||||||
|
},
|
||||||
|
)
|
||||||
|
motors_bus.connect()
|
||||||
|
|
||||||
|
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())
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.parametrize(
|
||||||
|
"num_retry, num_invalid_try, pos",
|
||||||
|
[
|
||||||
|
[1, 2, 1337],
|
||||||
|
[2, 3, 42],
|
||||||
|
[3, 2, 4016],
|
||||||
|
[2, 1, 999],
|
||||||
|
],
|
||||||
|
)
|
||||||
|
def test_read_num_retry(num_retry, num_invalid_try, pos):
|
||||||
|
mock_motors = MockMotors([1, 2, 3])
|
||||||
|
mock_motors.build_single_motor_stubs(
|
||||||
|
"Present_Position", return_value=pos, num_invalid_try=num_invalid_try
|
||||||
|
)
|
||||||
|
motors_bus = FeetechMotorsBus(
|
||||||
|
port=mock_motors.port,
|
||||||
|
motors={
|
||||||
|
"dummy_1": (1, "sts3215"),
|
||||||
|
"dummy_2": (2, "sts3215"),
|
||||||
|
"dummy_3": (3, "sts3215"),
|
||||||
|
},
|
||||||
|
)
|
||||||
|
motors_bus.connect()
|
||||||
|
|
||||||
|
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())
|
||||||
|
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
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue