forked from tangger/lerobot
Remove mock_feetech sdk & add feetech new tests
This commit is contained in:
Simon Alibert
@@ -1,151 +0,0 @@
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ruff: noqa: N802, E741
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"""
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Mocked classes and functions from scservo_sdk to allow for testing FeetechMotorsBus code.
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Warning: These mocked versions are minimalist. They do not exactly mock every behaviors
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from the original classes and functions (e.g. return types might be None instead of boolean).
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"""
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DEFAULT_BAUDRATE = 1_000_000
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COMM_SUCCESS = 0 # tx or rx packet communication success
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def convert_to_bytes(value, bytes):
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# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
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# `convert_bytes_to_value`
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del bytes # unused
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return value
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def get_default_motor_values(motor_index):
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return {
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# Key (int) are from SCS_SERIES_CONTROL_TABLE
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5: motor_index, # ID
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6: DEFAULT_BAUDRATE, # Baud_rate
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10: 0, # Drive_Mode
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21: 32, # P_Coefficient
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22: 32, # D_Coefficient
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23: 0, # I_Coefficient
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40: 0, # Torque_Enable
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41: 254, # Acceleration
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31: -2047, # Offset
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33: 0, # Mode
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55: 1, # Lock
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# Set 2560 since calibration values for Aloha gripper is between start_pos=2499 and end_pos=3144
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# For other joints, 2560 will be autocorrected to be in calibration range
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56: 2560, # Present_Position
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58: 0, # Present_Speed
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69: 0, # Present_Current
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85: 150, # Maximum_Acceleration
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}
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# Macro for Control Table Value
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def SCS_MAKEWORD(a, b):
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return (a & 0xFF) | ((b & 0xFF) << 8)
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def SCS_MAKEDWORD(a, b):
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return (a & 0xFFFF) | (b & 0xFFFF) << 16
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def SCS_LOWORD(l):
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return l & 0xFFFF
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def SCS_HIWORD(l):
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return (l >> 16) & 0xFFFF
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def SCS_LOBYTE(w):
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return w & 0xFF
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def SCS_HIBYTE(w):
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return (w >> 8) & 0xFF
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class PortHandler:
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def __init__(self, port):
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self.port = port
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# factory default baudrate
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self.baudrate = DEFAULT_BAUDRATE
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self.ser = SerialMock()
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def openPort(self): # noqa: N802
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return True
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def closePort(self): # noqa: N802
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pass
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def setPacketTimeoutMillis(self, timeout_ms): # noqa: N802
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del timeout_ms # unused
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def getBaudRate(self): # noqa: N802
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return self.baudrate
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def setBaudRate(self, baudrate): # noqa: N802
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self.baudrate = baudrate
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class PacketHandler:
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def __init__(self, protocol_version):
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del protocol_version # unused
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# Use packet_handler.data to communicate across Read and Write
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self.data = {}
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class GroupSyncRead:
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def __init__(self, port_handler, packet_handler, address, bytes):
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self.packet_handler = packet_handler
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def addParam(self, motor_index): # noqa: N802
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# Initialize motor default values
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if motor_index not in self.packet_handler.data:
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self.packet_handler.data[motor_index] = get_default_motor_values(motor_index)
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def txRxPacket(self): # noqa: N802
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return COMM_SUCCESS
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def getData(self, index, address, bytes): # noqa: N802
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return self.packet_handler.data[index][address]
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class GroupSyncWrite:
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def __init__(self, port_handler, packet_handler, address, bytes):
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self.packet_handler = packet_handler
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self.address = address
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def addParam(self, index, data): # noqa: N802
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if index not in self.packet_handler.data:
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self.packet_handler.data[index] = get_default_motor_values(index)
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self.changeParam(index, data)
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def txPacket(self): # noqa: N802
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return COMM_SUCCESS
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def changeParam(self, index, data): # noqa: N802
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self.packet_handler.data[index][self.address] = data
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class SerialMock:
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def reset_output_buffer(self):
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pass
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def reset_input_buffer(self):
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pass
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