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Add autoclosing fixture

This commit is contained in:
Simon Alibert 2025-03-22 18:16:13 +01:00
parent 7d558d058e
commit fedac994c3
4 changed files with 34 additions and 34 deletions
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1
tests/mocks/mock_dynamixel.py
View File

@ -424,7 +424,6 @@ class MockMotors(MockSerial):
def __init__(self):
super().__init__()
self.open()
@property
def stubs(self) -> dict[str, WaitableStub]:

1
tests/mocks/mock_feetech.py
View File

@ -283,7 +283,6 @@ class MockMotors(MockSerial):
def __init__(self):
super().__init__()
self.open()
@property
def stubs(self) -> dict[str, WaitableStub]:

33
tests/motors/test_dynamixel.py
View File

@ -1,4 +1,5 @@
import sys
from typing import Generator
from unittest.mock import patch
import dynamixel_sdk as dxl
@ -18,6 +19,14 @@ def patch_port_handler():
yield
@pytest.fixture
def mock_motors() -> Generator[MockMotors, None, None]:
motors = MockMotors()
motors.open()
yield motors
motors.close()
@pytest.fixture
def dummy_motors() -> dict[str, Motor]:
return {
@ -91,8 +100,7 @@ def test_abc_implementation(dummy_motors):
[3, 1120],
],
)
def test_ping(idx, model_nb, dummy_motors):
mock_motors = MockMotors()
def test_ping(idx, model_nb, mock_motors, dummy_motors):
mock_motors.build_ping_stub(idx, model_nb)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
@ -105,13 +113,12 @@ def test_ping(idx, model_nb, dummy_motors):
assert ping_model_nb == model_nb
def test_broadcast_ping(dummy_motors):
def test_broadcast_ping(mock_motors, dummy_motors):
expected_pings = {
1: [1060, 50],
2: [1120, 30],
3: [1190, 10],
}
mock_motors = MockMotors()
mock_motors.build_broadcast_ping_stub(expected_pings)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
@ -134,8 +141,7 @@ def test_broadcast_ping(dummy_motors):
],
ids=["None", "by ids", "by names", "mixed"],
)
def test_read_all_motors(motors, dummy_motors):
mock_motors = MockMotors()
def test_read_all_motors(motors, mock_motors, dummy_motors):
expected_positions = {
1: 1337,
2: 42,
@ -163,8 +169,7 @@ def test_read_all_motors(motors, dummy_motors):
[3, 4016],
],
)
def test_read_single_motor_by_name(idx, pos, dummy_motors):
mock_motors = MockMotors()
def test_read_single_motor_by_name(idx, pos, mock_motors, dummy_motors):
expected_position = {idx: pos}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
motors_bus = DynamixelMotorsBus(
@ -187,8 +192,7 @@ def test_read_single_motor_by_name(idx, pos, dummy_motors):
[3, 4016],
],
)
def test_read_single_motor_by_id(idx, pos, dummy_motors):
mock_motors = MockMotors()
def test_read_single_motor_by_id(idx, pos, mock_motors, dummy_motors):
expected_position = {idx: pos}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
motors_bus = DynamixelMotorsBus(
@ -212,8 +216,7 @@ def test_read_single_motor_by_id(idx, pos, dummy_motors):
[2, 1, 999],
],
)
def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
mock_motors = MockMotors()
def test_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy_motors):
expected_position = {1: pos}
stub_name = mock_motors.build_sync_read_stub(
"Present_Position", expected_position, num_invalid_try=num_invalid_try
@ -244,8 +247,7 @@ def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
],
ids=["by ids", "by names", "mixed"],
)
def test_write_all_motors(motors, dummy_motors):
mock_motors = MockMotors()
def test_write_all_motors(motors, mock_motors, dummy_motors):
goal_positions = {
1: 1337,
2: 42,
@ -271,8 +273,7 @@ def test_write_all_motors(motors, dummy_motors):
["Torque_Enable", 1],
],
)
def test_write_all_motors_single_value(data_name, value, dummy_motors):
mock_motors = MockMotors()
def test_write_all_motors_single_value(data_name, value, mock_motors, dummy_motors):
values = {m.id: value for m in dummy_motors.values()}
stub_name = mock_motors.build_sync_write_stub(data_name, values)
motors_bus = DynamixelMotorsBus(

33
tests/motors/test_feetech.py
View File

@ -1,4 +1,5 @@
import sys
from typing import Generator
from unittest.mock import patch
import pytest
@ -18,6 +19,14 @@ def patch_port_handler():
yield
@pytest.fixture
def mock_motors() -> Generator[MockMotors, None, None]:
motors = MockMotors()
motors.open()
yield motors
motors.close()
@pytest.fixture
def dummy_motors() -> dict[str, Motor]:
return {
@ -92,8 +101,7 @@ def test_abc_implementation(dummy_motors):
[3, 1120],
],
)
def test_ping(idx, model_nb, dummy_motors):
mock_motors = MockMotors()
def test_ping(idx, model_nb, mock_motors, dummy_motors):
mock_motors.build_ping_stub(idx, model_nb)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
@ -107,13 +115,12 @@ def test_ping(idx, model_nb, dummy_motors):
@pytest.mark.skip("TODO")
def test_broadcast_ping(dummy_motors):
def test_broadcast_ping(mock_motors, dummy_motors):
expected_pings = {
1: [1060, 50],
2: [1120, 30],
3: [1190, 10],
}
mock_motors = MockMotors()
mock_motors.build_broadcast_ping_stub(expected_pings)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
@ -136,8 +143,7 @@ def test_broadcast_ping(dummy_motors):
],
ids=["None", "by ids", "by names", "mixed"],
)
def test_read_all_motors(motors, dummy_motors):
mock_motors = MockMotors()
def test_read_all_motors(motors, mock_motors, dummy_motors):
expected_positions = {
1: 1337,
2: 42,
@ -165,8 +171,7 @@ def test_read_all_motors(motors, dummy_motors):
[3, 4016],
],
)
def test_read_single_motor_by_name(idx, pos, dummy_motors):
mock_motors = MockMotors()
def test_read_single_motor_by_name(idx, pos, mock_motors, dummy_motors):
expected_position = {idx: pos}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
motors_bus = FeetechMotorsBus(
@ -189,8 +194,7 @@ def test_read_single_motor_by_name(idx, pos, dummy_motors):
[3, 4016],
],
)
def test_read_single_motor_by_id(idx, pos, dummy_motors):
mock_motors = MockMotors()
def test_read_single_motor_by_id(idx, pos, mock_motors, dummy_motors):
expected_position = {idx: pos}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
motors_bus = FeetechMotorsBus(
@ -214,8 +218,7 @@ def test_read_single_motor_by_id(idx, pos, dummy_motors):
[2, 1, 999],
],
)
def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
mock_motors = MockMotors()
def test_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy_motors):
expected_position = {1: pos}
stub_name = mock_motors.build_sync_read_stub(
"Present_Position", expected_position, num_invalid_try=num_invalid_try
@ -246,8 +249,7 @@ def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
],
ids=["by ids", "by names", "mixed"],
)
def test_write_all_motors(motors, dummy_motors):
mock_motors = MockMotors()
def test_write_all_motors(motors, mock_motors, dummy_motors):
goal_positions = {
1: 1337,
2: 42,
@ -273,8 +275,7 @@ def test_write_all_motors(motors, dummy_motors):
["Torque_Enable", 1],
],
)
def test_write_all_motors_single_value(data_name, value, dummy_motors):
mock_motors = MockMotors()
def test_write_all_motors_single_value(data_name, value, mock_motors, dummy_motors):
values = {m.id: value for m in dummy_motors.values()}
stub_name = mock_motors.build_sync_write_stub(data_name, values)
motors_bus = FeetechMotorsBus(