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Refactor & add _serialize_data

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This commit is contained in:
Simon Alibert
2025-04-11 11:01:12 +02:00
parent 27cb0c40bd
commit d32daebf75
7 changed files with 78 additions and 104 deletions
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18
tests/motors/test_dynamixel.py
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@@ -62,7 +62,7 @@ def test_autouse_patch():
@pytest.mark.parametrize(
"value, n_bytes, expected",
"value, length, expected",
[
(0x12, 1, [0x12]),
(0x1234, 2, [0x34, 0x12]),
@@ -86,24 +86,24 @@ def test_autouse_patch():
"max four bytes",
],
) # fmt: skip
def test_split_int_to_bytes(value, n_bytes, expected):
assert DynamixelMotorsBus._split_int_to_bytes(value, n_bytes) == expected
def test_serialize_data(value, length, expected):
assert DynamixelMotorsBus._serialize_data(value, length) == expected
def test_split_int_to_bytes_invalid_n_bytes():
def test_serialize_data_invalid_length():
with pytest.raises(NotImplementedError):
DynamixelMotorsBus._split_int_to_bytes(100, 3)
DynamixelMotorsBus._serialize_data(100, 3)
def test_split_int_to_bytes_negative_numbers():
def test_serialize_data_negative_numbers():
with pytest.raises(ValueError):
neg = DynamixelMotorsBus._split_int_to_bytes(-1, 1)
neg = DynamixelMotorsBus._serialize_data(-1, 1)
print(neg)
def test_split_int_to_bytes_large_number():
def test_serialize_data_large_number():
with pytest.raises(ValueError):
DynamixelMotorsBus._split_int_to_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
DynamixelMotorsBus._serialize_data(2**32, 4) # 4-byte max is 0xFFFFFFFF
def test_abc_implementation(dummy_motors):