hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Rename idx -> id_

Browse Source
This commit is contained in:
Simon Alibert
2025-03-25 14:20:12 +01:00
parent 7a3b424cd3
commit 222d6f104e
4 changed files with 28 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
tests/mocks/mock_dynamixel.py
View File

@@ -281,9 +281,9 @@ class MockInstructionPacket(MockDynamixelPacketv2):
+2 is for the CRC at the end.
"""
data = []
for idx, value in ids_values.items():
for id_, value in ids_values.items():
split_value = DynamixelMotorsBus._split_int_to_bytes(value, data_length)
data += [idx, *split_value]
data += [id_, *split_value]
params = [
dxl.DXL_LOBYTE(start_address),
dxl.DXL_HIBYTE(start_address),
@@ -444,10 +444,10 @@ class MockMotors(MockSerial):
self, ids_models: dict[int, list[int]] | None = None, num_invalid_try: int = 0
) -> str:
ping_request = MockInstructionPacket.ping(dxl.BROADCAST_ID)
return_packets = b"".join(MockStatusPacket.ping(idx, model) for idx, model in ids_models.items())
return_packets = b"".join(MockStatusPacket.ping(id_, model) for id_, model in ids_models.items())
ping_response = self._build_send_fn(return_packets, num_invalid_try)
stub_name = "Ping_" + "_".join([str(idx) for idx in ids_models])
stub_name = "Ping_" + "_".join([str(id_) for id_ in ids_models])
self.stub(
name=stub_name,
receive_bytes=ping_request,
@@ -482,10 +482,10 @@ class MockMotors(MockSerial):
address, length = self.ctrl_table[data_name]
sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length)
return_packets = b"".join(
MockStatusPacket.present_position(idx, pos) for idx, pos in ids_values.items()
MockStatusPacket.present_position(id_, pos) for id_, pos in ids_values.items()
)
sync_read_response = self._build_send_fn(return_packets, num_invalid_try)
stub_name = f"Sync_Read_{data_name}_" + "_".join([str(idx) for idx in ids_values])
stub_name = f"Sync_Read_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
self.stub(
name=stub_name,
receive_bytes=sync_read_request,
@@ -498,7 +498,7 @@ class MockMotors(MockSerial):
) -> str:
address, length = self.ctrl_table[data_name]
sync_read_request = MockInstructionPacket.sync_write(ids_values, address, length)
stub_name = f"Sync_Write_{data_name}_" + "_".join([str(idx) for idx in ids_values])
stub_name = f"Sync_Write_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
self.stub(
name=stub_name,
receive_bytes=sync_read_request,

20
tests/mocks/mock_feetech.py
View File

@@ -46,8 +46,8 @@ class MockFeetechPacket(abc.ABC):
@staticmethod
def _add_checksum(packet: list[int]) -> list[int]:
checksum = 0
for idx in range(2, len(packet) - 1): # except header & checksum
checksum += packet[idx]
for id_ in range(2, len(packet) - 1): # except header & checksum
checksum += packet[id_]
packet[-1] = scs.SCS_LOBYTE(~checksum)
@@ -171,9 +171,9 @@ class MockInstructionPacket(MockFeetechPacket):
+1 is for the checksum at the end.
"""
data = []
for idx, value in ids_values.items():
for id_, value in ids_values.items():
split_value = FeetechMotorsBus._split_int_to_bytes(value, data_length)
data += [idx, *split_value]
data += [id_, *split_value]
params = [start_address, data_length, *data]
length = len(ids_values) * (1 + data_length) + 4
return cls.build(scs_id=scs.BROADCAST_ID, params=params, length=length, instruct_type="Sync_Write")
@@ -331,9 +331,9 @@ class MockMotors(MockSerial):
def build_broadcast_ping_stub(self, ids: list[int] | None = None, num_invalid_try: int = 0) -> str:
ping_request = MockInstructionPacket.ping(scs.BROADCAST_ID)
return_packets = b"".join(MockStatusPacket.ping(idx) for idx in ids)
return_packets = b"".join(MockStatusPacket.ping(id_) for id_ in ids)
ping_response = self._build_send_fn(return_packets, num_invalid_try)
stub_name = "Ping_" + "_".join([str(idx) for idx in ids])
stub_name = "Ping_" + "_".join([str(id_) for id_ in ids])
self.stub(
name=stub_name,
receive_bytes=ping_request,
@@ -386,17 +386,17 @@ class MockMotors(MockSerial):
sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length)
if data_name == "Present_Position":
return_packets = b"".join(
MockStatusPacket.present_position(idx, pos) for idx, pos in ids_values.items()
MockStatusPacket.present_position(id_, pos) for id_, pos in ids_values.items()
)
elif data_name == "Model_Number":
return_packets = b"".join(
MockStatusPacket.model_number(idx, model_nb) for idx, model_nb in ids_values.items()
MockStatusPacket.model_number(id_, model_nb) for id_, model_nb in ids_values.items()
)
else:
raise NotImplementedError
sync_read_response = self._build_send_fn(return_packets, num_invalid_try)
stub_name = f"Sync_Read_{data_name}_" + "_".join([str(idx) for idx in ids_values])
stub_name = f"Sync_Read_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
self.stub(
name=stub_name,
receive_bytes=sync_read_request,
@@ -409,7 +409,7 @@ class MockMotors(MockSerial):
) -> str:
address, length = self.ctrl_table[data_name]
sync_read_request = MockInstructionPacket.sync_write(ids_values, address, length)
stub_name = f"Sync_Write_{data_name}_" + "_".join([str(idx) for idx in ids_values])
stub_name = f"Sync_Write_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
self.stub(
name=stub_name,
receive_bytes=sync_read_request,

10
tests/motors/test_dynamixel.py
View File

@@ -92,17 +92,17 @@ def test_abc_implementation(dummy_motors):
DynamixelMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
@pytest.mark.parametrize("idx", [1, 2, 3])
def test_ping(idx, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{idx}"].model]
stub_name = mock_motors.build_ping_stub(idx, expected_model_nb)
@pytest.mark.parametrize("id_", [1, 2, 3])
def test_ping(id_, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{id_}"].model]
stub_name = mock_motors.build_ping_stub(id_, expected_model_nb)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
ping_model_nb = motors_bus.ping(idx)
ping_model_nb = motors_bus.ping(id_)
assert ping_model_nb == expected_model_nb
assert mock_motors.stubs[stub_name].called

12
tests/motors/test_feetech.py
View File

@@ -93,18 +93,18 @@ def test_abc_implementation(dummy_motors):
# @pytest.mark.skip("TODO")
@pytest.mark.parametrize("idx", [1, 2, 3])
def test_ping(idx, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{idx}"].model]
ping_stub = mock_motors.build_ping_stub(idx)
mobel_nb_stub = mock_motors.build_read_stub("Model_Number", idx, expected_model_nb)
@pytest.mark.parametrize("id_", [1, 2, 3])
def test_ping(id_, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{id_}"].model]
ping_stub = mock_motors.build_ping_stub(id_)
mobel_nb_stub = mock_motors.build_read_stub("Model_Number", id_, expected_model_nb)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
ping_model_nb = motors_bus.ping(idx)
ping_model_nb = motors_bus.ping(id_)
assert ping_model_nb == expected_model_nb
assert mock_motors.stubs[ping_stub].called