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Add handshake, fix feetech _read_firmware_version

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Simon Alibert
2025-04-14 17:14:06 +02:00
parent 3539251b18
commit 889de7c415
6 changed files with 71 additions and 47 deletions
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14
tests/motors/test_motors_bus.py
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@@ -227,7 +227,7 @@ def test__serialize_data_large_number():
)
def test_read(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
with (
@@ -261,7 +261,7 @@ def test_read(data_name, id_, value, dummy_motors):
)
def test_write(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
with (
@@ -296,7 +296,7 @@ def test_write(data_name, id_, value, dummy_motors):
)
def test_sync_read_by_str(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = [id_]
expected_value = {f"dummy_{id_}": value}
@@ -333,7 +333,7 @@ def test_sync_read_by_str(data_name, id_, value, dummy_motors):
)
def test_sync_read_by_list(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = list(ids_values)
expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@@ -370,7 +370,7 @@ def test_sync_read_by_list(data_name, ids_values, dummy_motors):
)
def test_sync_read_by_none(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = list(ids_values)
expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@@ -406,7 +406,7 @@ def test_sync_read_by_none(data_name, ids_values, dummy_motors):
)
def test_sync_write_by_single_value(data_name, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids_values = {m.id: value for m in dummy_motors.values()}
@@ -441,7 +441,7 @@ def test_sync_write_by_single_value(data_name, value, dummy_motors):
)
def test_sync_write_by_value_dict(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
values = {f"dummy_{id_}": val for id_, val in ids_values.items()}