45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
import sys
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from unittest.mock import patch
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import pytest
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from lerobot.common.motors.feetech import FeetechMotorsBus
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from tests.mocks import mock_scservo_sdk
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@pytest.fixture(autouse=True)
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def patch_scservo_sdk():
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with patch.dict(sys.modules, {"scservo_sdk": mock_scservo_sdk}):
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yield
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def test_patch_sdk():
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assert "scservo_sdk" in sys.modules # Should be patched
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assert sys.modules["scservo_sdk"] is mock_scservo_sdk # Should match the mock
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def test_abc_implementation():
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# Instantiation should raise an error if the class doesn't implements abstract methods/properties
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FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
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def test_configure_motors_all_ids_1():
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# see SCS_SERIES_BAUDRATE_TABLE
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smaller_baudrate = 19_200
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smaller_baudrate_value = 7
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# This test expect the configuration was already correct.
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motors_bus = FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
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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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# Test configure
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motors_bus = FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
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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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