diff --git a/tests/mocks/mock_dynamixel.py b/tests/mocks/mock_dynamixel.py index deb96ee7..b75479d3 100644 --- a/tests/mocks/mock_dynamixel.py +++ b/tests/mocks/mock_dynamixel.py @@ -424,7 +424,6 @@ class MockMotors(MockSerial): def __init__(self): super().__init__() - self.open() @property def stubs(self) -> dict[str, WaitableStub]: diff --git a/tests/mocks/mock_feetech.py b/tests/mocks/mock_feetech.py index 2a10e789..44061094 100644 --- a/tests/mocks/mock_feetech.py +++ b/tests/mocks/mock_feetech.py @@ -283,7 +283,6 @@ class MockMotors(MockSerial): def __init__(self): super().__init__() - self.open() @property def stubs(self) -> dict[str, WaitableStub]: diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py index 6d08ba00..2ea9827e 100644 --- a/tests/motors/test_dynamixel.py +++ b/tests/motors/test_dynamixel.py @@ -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( diff --git a/tests/motors/test_feetech.py b/tests/motors/test_feetech.py index 698e0adb..168e1aaf 100644 --- a/tests/motors/test_feetech.py +++ b/tests/motors/test_feetech.py @@ -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(