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Privatize methods & renames

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This commit is contained in:
Simon Alibert
2025-03-24 11:57:12 +01:00
parent 30fcd3d417
commit 39d8f45810
7 changed files with 86 additions and 79 deletions
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4
tests/mocks/mock_dynamixel.py
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@@ -282,7 +282,7 @@ class MockInstructionPacket(MockDynamixelPacketv2):
"""
data = []
for idx, value in ids_values.items():
split_value = DynamixelMotorsBus.split_int_bytes(value, data_length)
split_value = DynamixelMotorsBus._split_int_to_bytes(value, data_length)
data += [idx, *split_value]
params = [
dxl.DXL_LOBYTE(start_address),
@@ -319,7 +319,7 @@ class MockInstructionPacket(MockDynamixelPacketv2):
+2 is for the length bytes,
+2 is for the CRC at the end.
"""
data = DynamixelMotorsBus.split_int_bytes(value, data_length)
data = DynamixelMotorsBus._split_int_to_bytes(value, data_length)
params = [
dxl.DXL_LOBYTE(start_address),
dxl.DXL_HIBYTE(start_address),

4
tests/mocks/mock_feetech.py
View File

@@ -149,7 +149,7 @@ class MockInstructionPacket(MockFeetechPacket):
"""
data = []
for idx, value in ids_values.items():
split_value = FeetechMotorsBus.split_int_bytes(value, data_length)
split_value = FeetechMotorsBus._split_int_to_bytes(value, data_length)
data += [idx, *split_value]
params = [start_address, data_length, *data]
length = len(ids_values) * (1 + data_length) + 4
@@ -179,7 +179,7 @@ class MockInstructionPacket(MockFeetechPacket):
+1 is for the length bytes,
+1 is for the checksum at the end.
"""
data = FeetechMotorsBus.split_int_bytes(value, data_length)
data = FeetechMotorsBus._split_int_to_bytes(value, data_length)
params = [start_address, *data]
length = data_length + 3
return cls.build(scs_id=scs_id, params=params, length=length, instruct_type="Write")

16
tests/motors/test_dynamixel.py
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@@ -67,24 +67,24 @@ def test_autouse_patch():
"max four bytes",
],
) # fmt: skip
def test_split_int_bytes(value, n_bytes, expected):
assert DynamixelMotorsBus.split_int_bytes(value, n_bytes) == expected
def test_split_int_to_bytes(value, n_bytes, expected):
assert DynamixelMotorsBus._split_int_to_bytes(value, n_bytes) == expected
def test_split_int_bytes_invalid_n_bytes():
def test_split_int_to_bytes_invalid_n_bytes():
with pytest.raises(NotImplementedError):
DynamixelMotorsBus.split_int_bytes(100, 3)
DynamixelMotorsBus._split_int_to_bytes(100, 3)
def test_split_int_bytes_negative_numbers():
def test_split_int_to_bytes_negative_numbers():
with pytest.raises(ValueError):
neg = DynamixelMotorsBus.split_int_bytes(-1, 1)
neg = DynamixelMotorsBus._split_int_to_bytes(-1, 1)
print(neg)
def test_split_int_bytes_large_number():
def test_split_int_to_bytes_large_number():
with pytest.raises(ValueError):
DynamixelMotorsBus.split_int_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
DynamixelMotorsBus._split_int_to_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
def test_abc_implementation(dummy_motors):

16
tests/motors/test_feetech.py
View File

@@ -67,24 +67,24 @@ def test_autouse_patch():
"max four bytes",
],
) # fmt: skip
def test_split_int_bytes(value, n_bytes, expected):
assert FeetechMotorsBus.split_int_bytes(value, n_bytes) == expected
def test_split_int_to_bytes(value, n_bytes, expected):
assert FeetechMotorsBus._split_int_to_bytes(value, n_bytes) == expected
def test_split_int_bytes_invalid_n_bytes():
def test_split_int_to_bytes_invalid_n_bytes():
with pytest.raises(NotImplementedError):
FeetechMotorsBus.split_int_bytes(100, 3)
FeetechMotorsBus._split_int_to_bytes(100, 3)
def test_split_int_bytes_negative_numbers():
def test_split_int_to_bytes_negative_numbers():
with pytest.raises(ValueError):
neg = FeetechMotorsBus.split_int_bytes(-1, 1)
neg = FeetechMotorsBus._split_int_to_bytes(-1, 1)
print(neg)
def test_split_int_bytes_large_number():
def test_split_int_to_bytes_large_number():
with pytest.raises(ValueError):
FeetechMotorsBus.split_int_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
FeetechMotorsBus._split_int_to_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
def test_abc_implementation(dummy_motors):