diff --git a/tests/mocks/mock_dynamixel.py b/tests/mocks/mock_dynamixel.py index 4159af3d8..92e47c59f 100644 --- a/tests/mocks/mock_dynamixel.py +++ b/tests/mocks/mock_dynamixel.py @@ -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, diff --git a/tests/mocks/mock_feetech.py b/tests/mocks/mock_feetech.py index fc5422ed1..c5fab0d9a 100644 --- a/tests/mocks/mock_feetech.py +++ b/tests/mocks/mock_feetech.py @@ -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, diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py index d2a0d0869..80f853d65 100644 --- a/tests/motors/test_dynamixel.py +++ b/tests/motors/test_dynamixel.py @@ -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 diff --git a/tests/motors/test_feetech.py b/tests/motors/test_feetech.py index 1dc3d2171..f65813c32 100644 --- a/tests/motors/test_feetech.py +++ b/tests/motors/test_feetech.py @@ -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