Remove test_motors_bus fixtures

tests/motors/test_motors_bus.py

@@ -10,29 +10,56 @@ from lerobot.common.motors.motors_bus import (
     get_ctrl_table,
 )
 
-DUMMY_CTRL_TABLE = {"Present_Position": (13, 4)}
+DUMMY_CTRL_TABLE_1 = {
+    "Firmware_Version": (0, 1),
+    "Model_Number": (1, 2),
+    "Present_Position": (3, 4),
+    "Goal_Position": (7, 2),
+}
+
+DUMMY_CTRL_TABLE_2 = {
+    "Model_Number": (0, 2),
+    "Firmware_Version": (2, 1),
+    "Present_Position": (3, 4),
+    "Goal_Position": (7, 4),
+    "Lock": (7, 4),
+}
+
+DUMMY_MODEL_CTRL_TABLE = {
+    "model_1": DUMMY_CTRL_TABLE_1,
+    "model_2": DUMMY_CTRL_TABLE_2,
+}
 
 DUMMY_BAUDRATE_TABLE = {
     0: 1_000_000,
     1: 500_000,
 }
 
-DUMMY_ENCODING_TABLE = {
+DUMMY_MODEL_BAUDRATE_TABLE = {
-    "Present_Position": 8,
+    "model_1": DUMMY_BAUDRATE_TABLE,
+    "model_2": DUMMY_BAUDRATE_TABLE,
 }
 
-DUMMY_MODEL_NUMBER_TABLE = {""}
+DUMMY_ENCODING_TABLE = {
+    "Present_Position": 8,
+    "Goal_Position": 10,
+}
+
+DUMMY_MODEL_ENCODING_TABLE = {
+    "model_1": DUMMY_ENCODING_TABLE,
+    "model_2": DUMMY_ENCODING_TABLE,
+}
 
 
 class DummyMotorsBus(MotorsBus):
-    available_baudrates = [1_000_000]
+    available_baudrates = [500_000, 1_000_000]
     default_timeout = 1000
-    model_baudrate_table = {"model": DUMMY_BAUDRATE_TABLE}
+    model_baudrate_table = DUMMY_MODEL_BAUDRATE_TABLE
-    model_ctrl_table = {"model": DUMMY_CTRL_TABLE}
+    model_ctrl_table = DUMMY_MODEL_CTRL_TABLE
-    model_encoding_table = {"model": DUMMY_ENCODING_TABLE}
+    model_encoding_table = DUMMY_MODEL_ENCODING_TABLE
-    model_number_table = {"model": 1234}
+    model_number_table = {"model_1": 1234, "model_2": 5678}
-    model_resolution_table = {"model": 4096}
+    model_resolution_table = {"model_1": 4096, "model_2": 1024}
-    normalized_data = ["Present_Position"]
+    normalized_data = ["Present_Position", "Goal_Position"]
 
     def __init__(self, port: str, motors: dict[str, Motor]):
         super().__init__(port, motors)
@@ -48,81 +75,52 @@ class DummyMotorsBus(MotorsBus):
     def broadcast_ping(self, num_retry, raise_on_error): ...
 
 
-@pytest.fixture
+def test_get_ctrl_table():
-def ctrl_table_1() -> dict:
-    return {
-        "Firmware_Version": (0, 1),
-        "Model_Number": (1, 2),
-        "Present_Position": (3, 4),
-        "Goal_Position": (7, 2),
-    }
-
-
-@pytest.fixture
-def ctrl_table_2() -> dict:
-    return {
-        "Model_Number": (0, 2),
-        "Firmware_Version": (2, 1),
-        "Present_Position": (3, 4),
-        "Goal_Position": (7, 4),
-        "Lock": (7, 4),
-    }
-
-
-@pytest.fixture
-def model_ctrl_table(ctrl_table_1, ctrl_table_2) -> dict:
-    return {
-        "model_1": ctrl_table_1,
-        "model_2": ctrl_table_2,
-    }
-
-
-def test_get_ctrl_table(model_ctrl_table, ctrl_table_1):
     model = "model_1"
-    ctrl_table = get_ctrl_table(model_ctrl_table, model)
+    ctrl_table = get_ctrl_table(DUMMY_MODEL_CTRL_TABLE, model)
-    assert ctrl_table == ctrl_table_1
+    assert ctrl_table == DUMMY_CTRL_TABLE_1
 
 
-def test_get_ctrl_table_error(model_ctrl_table):
+def test_get_ctrl_table_error():
     model = "model_99"
     with pytest.raises(KeyError, match=f"Control table for {model=} not found."):
-        get_ctrl_table(model_ctrl_table, model)
+        get_ctrl_table(DUMMY_MODEL_CTRL_TABLE, model)
 
 
-def test_get_address(model_ctrl_table):
+def test_get_address():
-    addr, n_bytes = get_address(model_ctrl_table, "model_1", "Firmware_Version")
+    addr, n_bytes = get_address(DUMMY_MODEL_CTRL_TABLE, "model_1", "Firmware_Version")
     assert addr == 0
     assert n_bytes == 1
 
 
-def test_get_address_error(model_ctrl_table):
+def test_get_address_error():
     model = "model_1"
     data_name = "Lock"
     with pytest.raises(KeyError, match=f"Address for '{data_name}' not found in {model} control table."):
-        get_address(model_ctrl_table, "model_1", data_name)
+        get_address(DUMMY_MODEL_CTRL_TABLE, "model_1", data_name)
 
 
-def test_assert_same_address(model_ctrl_table):
+def test_assert_same_address():
     models = ["model_1", "model_2"]
-    assert_same_address(model_ctrl_table, models, "Present_Position")
+    assert_same_address(DUMMY_MODEL_CTRL_TABLE, models, "Present_Position")
 
 
-def test_assert_same_address_different_addresses(model_ctrl_table):
+def test_assert_same_address_different_addresses():
     models = ["model_1", "model_2"]
     with pytest.raises(
         NotImplementedError,
         match=re.escape("At least two motor models use a different address"),
     ):
-        assert_same_address(model_ctrl_table, models, "Model_Number")
+        assert_same_address(DUMMY_MODEL_CTRL_TABLE, models, "Model_Number")
 
 
-def test_assert_same_address_different_bytes(model_ctrl_table):
+def test_assert_same_address_different_bytes():
     models = ["model_1", "model_2"]
     with pytest.raises(
         NotImplementedError,
         match=re.escape("At least two motor models use a different bytes representation"),
     ):
-        assert_same_address(model_ctrl_table, models, "Goal_Position")
+        assert_same_address(DUMMY_MODEL_CTRL_TABLE, models, "Goal_Position")
 
 
 def test__serialize_data_invalid_length():