88 lines
2.4 KiB
Python
88 lines
2.4 KiB
Python
import re
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import pytest
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from lerobot.common.motors.motors_bus import assert_same_address, get_address, get_ctrl_table
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# TODO(aliberts)
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# class DummyMotorsBus(MotorsBus):
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# def __init__(self, port: str, motors: dict[str, Motor]):
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# super().__init__(port, motors)
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@pytest.fixture
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def ctrl_table_1() -> dict:
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return {
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"Firmware_Version": (0, 1),
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"Model_Number": (1, 2),
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"Present_Position": (3, 4),
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"Goal_Position": (7, 2),
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}
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@pytest.fixture
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def ctrl_table_2() -> dict:
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return {
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"Model_Number": (0, 2),
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"Firmware_Version": (2, 1),
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"Present_Position": (3, 4),
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"Goal_Position": (7, 4),
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"Lock": (7, 4),
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}
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@pytest.fixture
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def model_ctrl_table(ctrl_table_1, ctrl_table_2) -> dict:
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return {
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"model_1": ctrl_table_1,
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"model_2": ctrl_table_2,
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}
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def test_get_ctrl_table(model_ctrl_table, ctrl_table_1):
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model = "model_1"
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ctrl_table = get_ctrl_table(model_ctrl_table, model)
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assert ctrl_table == ctrl_table_1
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def test_get_ctrl_table_error(model_ctrl_table):
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model = "model_99"
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with pytest.raises(KeyError, match=f"Control table for {model=} not found."):
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get_ctrl_table(model_ctrl_table, model)
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def test_get_address(model_ctrl_table):
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addr, n_bytes = get_address(model_ctrl_table, "model_1", "Firmware_Version")
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assert addr == 0
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assert n_bytes == 1
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def test_get_address_error(model_ctrl_table):
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model = "model_1"
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data_name = "Lock"
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with pytest.raises(KeyError, match=f"Address for '{data_name}' not found in {model} control table."):
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get_address(model_ctrl_table, "model_1", data_name)
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def test_assert_same_address(model_ctrl_table):
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models = ["model_1", "model_2"]
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assert_same_address(model_ctrl_table, models, "Present_Position")
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def test_assert_same_address_different_addresses(model_ctrl_table):
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models = ["model_1", "model_2"]
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with pytest.raises(
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NotImplementedError,
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match=re.escape("At least two motor models use a different address"),
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):
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assert_same_address(model_ctrl_table, models, "Model_Number")
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def test_assert_same_address_different_bytes(model_ctrl_table):
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models = ["model_1", "model_2"]
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with pytest.raises(
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NotImplementedError,
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match=re.escape("At least two motor models use a different bytes representation"),
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):
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assert_same_address(model_ctrl_table, models, "Goal_Position")
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