From 8d659a6aa934300334f3a2248703807c1605643f Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Sat, 15 Mar 2025 22:26:47 +0100
Subject: [PATCH] Update mock SDKs

---
 tests/mocks/mock_dynamixel_sdk.py | 31 ++++++++++++++++++++++++++++--
 tests/mocks/mock_scservo_sdk.py   | 32 +++++++++++++++++++++++++++++--
 2 files changed, 59 insertions(+), 4 deletions(-)

diff --git a/tests/mocks/mock_dynamixel_sdk.py b/tests/mocks/mock_dynamixel_sdk.py
index a4d36bd90..6212285ee 100644
--- a/tests/mocks/mock_dynamixel_sdk.py
+++ b/tests/mocks/mock_dynamixel_sdk.py
@@ -12,8 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Mocked classes and functions from dynamixel_sdk to allow for continuous integration
-and testing code logic that requires hardware and devices (e.g. robot arms, cameras)
+# ruff: noqa: N802, E741
+
+"""
+Mocked classes and functions from dynamixel_sdk to allow for testing DynamixelMotorsBus code.
 
 Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
 from the original classes and functions (e.g. return types might be None instead of boolean).
@@ -43,6 +45,31 @@ def get_default_motor_values(motor_index):
     }
 
 
+# Macro for Control Table Value
+def DXL_MAKEWORD(a, b):
+    return (a & 0xFF) | ((b & 0xFF) << 8)
+
+
+def DXL_MAKEDWORD(a, b):
+    return (a & 0xFFFF) | (b & 0xFFFF) << 16
+
+
+def DXL_LOWORD(l):
+    return l & 0xFFFF
+
+
+def DXL_HIWORD(l):
+    return (l >> 16) & 0xFFFF
+
+
+def DXL_LOBYTE(w):
+    return w & 0xFF
+
+
+def DXL_HIBYTE(w):
+    return (w >> 8) & 0xFF
+
+
 class PortHandler:
     def __init__(self, port):
         self.port = port
diff --git a/tests/mocks/mock_scservo_sdk.py b/tests/mocks/mock_scservo_sdk.py
index 5bbb758d2..21a3652bc 100644
--- a/tests/mocks/mock_scservo_sdk.py
+++ b/tests/mocks/mock_scservo_sdk.py
@@ -11,8 +11,11 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-"""Mocked classes and functions from dynamixel_sdk to allow for continuous integration
-and testing code logic that requires hardware and devices (e.g. robot arms, cameras)
+
+# ruff: noqa: N802, E741
+
+"""
+Mocked classes and functions from scservo_sdk to allow for testing FeetechMotorsBus code.
 
 Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
 from the original classes and functions (e.g. return types might be None instead of boolean).
@@ -52,6 +55,31 @@ def get_default_motor_values(motor_index):
     }
 
 
+# Macro for Control Table Value
+def SCS_MAKEWORD(a, b):
+    return (a & 0xFF) | ((b & 0xFF) << 8)
+
+
+def SCS_MAKEDWORD(a, b):
+    return (a & 0xFFFF) | (b & 0xFFFF) << 16
+
+
+def SCS_LOWORD(l):
+    return l & 0xFFFF
+
+
+def SCS_HIWORD(l):
+    return (l >> 16) & 0xFFFF
+
+
+def SCS_LOBYTE(w):
+    return w & 0xFF
+
+
+def SCS_HIBYTE(w):
+    return (w >> 8) & 0xFF
+
+
 class PortHandler:
     def __init__(self, port):
         self.port = port