From 7f23972f3f4ac96d1c32474b7092abd3990c21fe Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Sat, 15 Mar 2025 21:45:05 +0100
Subject: [PATCH] Add Feetech & Dxl basic tests

---
 tests/motors/test_dynamixel.py | 24 ++++++++++++++++++++++++
 tests/motors/test_feetech.py   | 24 ++++++++++++++++++++++++
 2 files changed, 48 insertions(+)
 create mode 100644 tests/motors/test_dynamixel.py
 create mode 100644 tests/motors/test_feetech.py

diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py
new file mode 100644
index 000000000..de18f8dd0
--- /dev/null
+++ b/tests/motors/test_dynamixel.py
@@ -0,0 +1,24 @@
+import sys
+from unittest.mock import patch
+
+import pytest
+
+from tests.mocks import mock_dynamixel_sdk
+
+
+@pytest.fixture(autouse=True)
+def patch_dynamixel_sdk():
+    with patch.dict(sys.modules, {"dynamixel_sdk": mock_dynamixel_sdk}):
+        yield
+
+
+def test_patch_sdk():
+    assert "dynamixel_sdk" in sys.modules  # Should be patched
+    assert sys.modules["dynamixel_sdk"] is mock_dynamixel_sdk  # Should match the mock
+
+
+def test_abc_implementation():
+    from lerobot.common.motors.dynamixel import DynamixelMotorsBus
+
+    # Instantiation should raise an error if the class doesn't implements abstract methods/properties
+    DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy", (1, "xl330-m077")})
diff --git a/tests/motors/test_feetech.py b/tests/motors/test_feetech.py
new file mode 100644
index 000000000..bd9368df2
--- /dev/null
+++ b/tests/motors/test_feetech.py
@@ -0,0 +1,24 @@
+import sys
+from unittest.mock import patch
+
+import pytest
+
+from tests.mocks import mock_scservo_sdk
+
+
+@pytest.fixture(autouse=True)
+def patch_scservo_sdk():
+    with patch.dict(sys.modules, {"scservo_sdk": mock_scservo_sdk}):
+        yield
+
+
+def test_patch_sdk():
+    assert "scservo_sdk" in sys.modules  # Should be patched
+    assert sys.modules["scservo_sdk"] is mock_scservo_sdk  # Should match the mock
+
+
+def test_abc_implementation():
+    from lerobot.common.motors.feetech import FeetechMotorsBus
+
+    # Instantiation should raise an error if the class doesn't implements abstract methods/properties
+    FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy", (1, "sts3215")})