Remove Dxl mock sdk & update tests
This commit is contained in:
Simon Alibert
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ruff: noqa: N802, E741
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"""
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Mocked classes and functions from dynamixel_sdk to allow for testing DynamixelMotorsBus code.
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Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
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from the original classes and functions (e.g. return types might be None instead of boolean).
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"""
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DEFAULT_BAUDRATE = 9_600
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COMM_SUCCESS = 0 # tx or rx packet communication success
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def convert_to_bytes(value, bytes):
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# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
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# `convert_bytes_to_value`
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del bytes # unused
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return value
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def get_default_motor_values(motor_index):
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return {
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# Key (int) are from X_SERIES_CONTROL_TABLE
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7: motor_index, # ID
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8: DEFAULT_BAUDRATE, # Baud_rate
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10: 0, # Drive_Mode
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64: 0, # Torque_Enable
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# Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144
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# For other joints, 2560 will be autocorrected to be in calibration range
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132: 2560, # Present_Position
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}
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# Macro for Control Table Value
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def DXL_MAKEWORD(a, b):
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return (a & 0xFF) | ((b & 0xFF) << 8)
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def DXL_MAKEDWORD(a, b):
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return (a & 0xFFFF) | (b & 0xFFFF) << 16
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def DXL_LOWORD(l):
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return l & 0xFFFF
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def DXL_HIWORD(l):
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return (l >> 16) & 0xFFFF
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def DXL_LOBYTE(w):
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return w & 0xFF
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def DXL_HIBYTE(w):
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return (w >> 8) & 0xFF
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class PortHandler:
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def __init__(self, port):
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self.port = port
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# factory default baudrate
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self.baudrate = DEFAULT_BAUDRATE
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def openPort(self): # noqa: N802
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return True
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def closePort(self): # noqa: N802
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pass
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def setPacketTimeoutMillis(self, timeout_ms): # noqa: N802
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del timeout_ms # unused
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def getBaudRate(self): # noqa: N802
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return self.baudrate
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def setBaudRate(self, baudrate): # noqa: N802
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self.baudrate = baudrate
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class PacketHandler:
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def __init__(self, protocol_version):
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del protocol_version # unused
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# Use packet_handler.data to communicate across Read and Write
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self.data = {}
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class GroupSyncRead:
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def __init__(self, port_handler, packet_handler, address, bytes):
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self.packet_handler = packet_handler
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def addParam(self, motor_index): # noqa: N802
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# Initialize motor default values
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if motor_index not in self.packet_handler.data:
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self.packet_handler.data[motor_index] = get_default_motor_values(motor_index)
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def txRxPacket(self): # noqa: N802
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return COMM_SUCCESS
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def getData(self, index, address, bytes): # noqa: N802
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return self.packet_handler.data[index][address]
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class GroupSyncWrite:
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def __init__(self, port_handler, packet_handler, address, bytes):
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self.packet_handler = packet_handler
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self.address = address
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def addParam(self, index, data): # noqa: N802
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# Initialize motor default values
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if index not in self.packet_handler.data:
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self.packet_handler.data[index] = get_default_motor_values(index)
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self.changeParam(index, data)
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def txPacket(self): # noqa: N802
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return COMM_SUCCESS
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def changeParam(self, index, data): # noqa: N802
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self.packet_handler.data[index][self.address] = data
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@ -1,21 +1,55 @@
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import sys
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from unittest.mock import patch
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import dynamixel_sdk as dxl
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import pytest
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from lerobot.common.motors.dynamixel import DynamixelMotorsBus
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from tests.mocks import mock_dynamixel_sdk
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from lerobot.common.motors.dynamixel.dynamixel import DynamixelMotorsBus
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from tests.mocks.mock_dynamixel import MockInstructionPacket, MockMotors, MockPortHandler
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@pytest.fixture(autouse=True)
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def patch_dynamixel_sdk():
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with patch.dict(sys.modules, {"dynamixel_sdk": mock_dynamixel_sdk}):
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yield
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def patch_port_handler():
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with patch.object(dxl, "PortHandler", MockPortHandler):
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yield # Patch is applied for the duration of each test
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def test_patch_sdk():
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assert "dynamixel_sdk" in sys.modules # Should be patched
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assert sys.modules["dynamixel_sdk"] is mock_dynamixel_sdk # Should match the mock
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def test_autouse_patch():
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"""Ensure that the autouse fixture correctly patches dxl.PortHandler with MockPortHandler."""
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assert dxl.PortHandler is MockPortHandler
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@pytest.mark.parametrize(
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"value, n_bytes, expected",
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[
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(0x12, 1, [0x12]), # Single byte
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(0x1234, 2, [0x34, 0x12]), # Two bytes
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(0x12345678, 4, [0x78, 0x56, 0x34, 0x12]), # Four bytes
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(0, 1, [0x00]), # Zero with 1 byte
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(0, 2, [0x00, 0x00]), # Zero with 2 bytes
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(0, 4, [0x00, 0x00, 0x00, 0x00]), # Zero with 4 bytes
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(255, 1, [0xFF]), # Max single byte
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(65535, 2, [0xFF, 0xFF]), # Max two bytes
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(4294967295, 4, [0xFF, 0xFF, 0xFF, 0xFF]), # Max four bytes
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],
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) # fmt: skip
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def test_split_int_bytes(value, n_bytes, expected):
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assert DynamixelMotorsBus.split_int_bytes(value, n_bytes) == expected
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def test_split_int_bytes_invalid_n_bytes():
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with pytest.raises(NotImplementedError):
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DynamixelMotorsBus.split_int_bytes(100, 3)
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def test_split_int_bytes_negative_numbers():
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with pytest.raises(ValueError):
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neg = DynamixelMotorsBus.split_int_bytes(-1, 1)
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print(neg)
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def test_split_int_bytes_large_number():
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with pytest.raises(ValueError):
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DynamixelMotorsBus.split_int_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
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def test_abc_implementation():
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@ -23,22 +57,108 @@ def test_abc_implementation():
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DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
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def test_configure_motors_all_ids_1():
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# see X_SERIES_BAUDRATE_TABLE
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smaller_baudrate = 9_600
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smaller_baudrate_value = 0
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# This test expect the configuration was already correct.
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motors_bus = DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
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@pytest.mark.parametrize(
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"motors",
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[
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None,
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[1, 2, 3],
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["dummy_1", "dummy_2", "dummy_3"],
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[1, "dummy_2", 3], # Mixed
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],
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)
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def test_read_all_motors(motors):
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mock_motors = MockMotors([1, 2, 3])
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors={
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"dummy_1": (1, "xl330-m077"),
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"dummy_2": (2, "xl330-m077"),
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"dummy_3": (3, "xl330-m077"),
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},
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)
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motors_bus.connect()
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motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus))
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motors_bus.set_baudrate(smaller_baudrate)
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motors_bus.write("ID", [1] * len(motors_bus))
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del motors_bus
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pos_dict = motors_bus.read("Present_Position", motors=motors)
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# Test configure
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motors_bus = DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
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assert mock_motors.stubs["SyncRead_Present_Position_all"].called
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assert len(pos_dict) == 3
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assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
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@pytest.mark.parametrize("idx", [1, 2, 3])
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def test_read_single_motor_name(idx):
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mock_motors = MockMotors([1, 2, 3])
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors={
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"dummy_1": (1, "xl330-m077"),
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"dummy_2": (2, "xl330-m077"),
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"dummy_3": (3, "xl330-m077"),
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},
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)
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motors_bus.connect()
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assert motors_bus.are_motors_configured()
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del motors_bus
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pos_dict = motors_bus.read("Present_Position", f"dummy_{idx}")
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assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called
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assert len(pos_dict) == 1
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assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
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@pytest.mark.parametrize("idx", [1, 2, 3])
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def test_read_single_motor_id(idx):
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mock_motors = MockMotors([1, 2, 3])
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors={
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"dummy_1": (1, "xl330-m077"),
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"dummy_2": (2, "xl330-m077"),
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"dummy_3": (3, "xl330-m077"),
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},
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)
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motors_bus.connect()
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pos_dict = motors_bus.read("Present_Position", idx)
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assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called
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assert len(pos_dict) == 1
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assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
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@pytest.mark.parametrize(
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"num_retry, num_invalid_try",
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[
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[1, 2],
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[2, 3],
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[3, 2],
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[2, 1],
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],
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)
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def test_read_num_retry(num_retry, num_invalid_try):
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mock_motors = MockMotors([1, 2, 3], default_stubs=None)
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address, length = mock_motors.ctrl_table["Present_Position"]
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receive_bytes = MockInstructionPacket.sync_read([1], address, length)
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send_fn = mock_motors._create_present_pos_send_fn(
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[1], "Present_Position", num_invalid_try=num_invalid_try
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)
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mock_motors.stub(name="num_retry", receive_bytes=receive_bytes, send_fn=send_fn)
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motors_bus = DynamixelMotorsBus(
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port=mock_motors.port,
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motors={
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"dummy_1": (1, "xl330-m077"),
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"dummy_2": (2, "xl330-m077"),
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"dummy_3": (3, "xl330-m077"),
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},
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)
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motors_bus.connect()
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if num_retry >= num_invalid_try:
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pos_dict = motors_bus.read("Present_Position", 1, num_retry=num_retry)
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assert len(pos_dict) == 1
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assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
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else:
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with pytest.raises(ConnectionError):
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_ = motors_bus.read("Present_Position", 1, num_retry=num_retry)
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assert mock_motors.stubs["num_retry"].calls == num_retry
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