Remove Dxl mock sdk & update tests

tests/motors/test_dynamixel.py

@@ -1,21 +1,55 @@
-import sys
 from unittest.mock import patch
 
+import dynamixel_sdk as dxl
 import pytest
 
-from lerobot.common.motors.dynamixel import DynamixelMotorsBus
-from tests.mocks import mock_dynamixel_sdk
+from lerobot.common.motors.dynamixel.dynamixel import DynamixelMotorsBus
+from tests.mocks.mock_dynamixel import MockInstructionPacket, MockMotors, MockPortHandler
 
 
 @pytest.fixture(autouse=True)
-def patch_dynamixel_sdk():
-    with patch.dict(sys.modules, {"dynamixel_sdk": mock_dynamixel_sdk}):
-        yield
+def patch_port_handler():
+    with patch.object(dxl, "PortHandler", MockPortHandler):
+        yield  # Patch is applied for the duration of each test
 
 
-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_autouse_patch():
+    """Ensure that the autouse fixture correctly patches dxl.PortHandler with MockPortHandler."""
+    assert dxl.PortHandler is MockPortHandler
+
+
+@pytest.mark.parametrize(
+    "value, n_bytes, expected",
+    [
+        (0x12,       1, [0x12]),                    # Single byte
+        (0x1234,     2, [0x34, 0x12]),              # Two bytes
+        (0x12345678, 4, [0x78, 0x56, 0x34, 0x12]),  # Four bytes
+        (0,          1, [0x00]),                    # Zero with 1 byte
+        (0,          2, [0x00, 0x00]),              # Zero with 2 bytes
+        (0,          4, [0x00, 0x00, 0x00, 0x00]),  # Zero with 4 bytes
+        (255,        1, [0xFF]),                    # Max single byte
+        (65535,      2, [0xFF, 0xFF]),              # Max two bytes
+        (4294967295, 4, [0xFF, 0xFF, 0xFF, 0xFF]),  # Max four bytes
+    ],
+)  # fmt: skip
+def test_split_int_bytes(value, n_bytes, expected):
+    assert DynamixelMotorsBus.split_int_bytes(value, n_bytes) == expected
+
+
+def test_split_int_bytes_invalid_n_bytes():
+    with pytest.raises(NotImplementedError):
+        DynamixelMotorsBus.split_int_bytes(100, 3)
+
+
+def test_split_int_bytes_negative_numbers():
+    with pytest.raises(ValueError):
+        neg = DynamixelMotorsBus.split_int_bytes(-1, 1)
+        print(neg)
+
+
+def test_split_int_bytes_large_number():
+    with pytest.raises(ValueError):
+        DynamixelMotorsBus.split_int_bytes(2**32, 4)  # 4-byte max is 0xFFFFFFFF
 
 
 def test_abc_implementation():
@@ -23,22 +57,108 @@ def test_abc_implementation():
     DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
 
 
-def test_configure_motors_all_ids_1():
-    # see X_SERIES_BAUDRATE_TABLE
-    smaller_baudrate = 9_600
-    smaller_baudrate_value = 0
-
-    # This test expect the configuration was already correct.
-    motors_bus = DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
+@pytest.mark.parametrize(
+    "motors",
+    [
+        None,
+        [1, 2, 3],
+        ["dummy_1", "dummy_2", "dummy_3"],
+        [1, "dummy_2", 3],  # Mixed
+    ],
+)
+def test_read_all_motors(motors):
+    mock_motors = MockMotors([1, 2, 3])
+    motors_bus = DynamixelMotorsBus(
+        port=mock_motors.port,
+        motors={
+            "dummy_1": (1, "xl330-m077"),
+            "dummy_2": (2, "xl330-m077"),
+            "dummy_3": (3, "xl330-m077"),
+        },
+    )
     motors_bus.connect()
-    motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus))
 
-    motors_bus.set_baudrate(smaller_baudrate)
-    motors_bus.write("ID", [1] * len(motors_bus))
-    del motors_bus
+    pos_dict = motors_bus.read("Present_Position", motors=motors)
 
-    # Test configure
-    motors_bus = DynamixelMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "xl330-m077")})
+    assert mock_motors.stubs["SyncRead_Present_Position_all"].called
+    assert len(pos_dict) == 3
+    assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
+
+
+@pytest.mark.parametrize("idx", [1, 2, 3])
+def test_read_single_motor_name(idx):
+    mock_motors = MockMotors([1, 2, 3])
+    motors_bus = DynamixelMotorsBus(
+        port=mock_motors.port,
+        motors={
+            "dummy_1": (1, "xl330-m077"),
+            "dummy_2": (2, "xl330-m077"),
+            "dummy_3": (3, "xl330-m077"),
+        },
+    )
     motors_bus.connect()
-    assert motors_bus.are_motors_configured()
-    del motors_bus
+
+    pos_dict = motors_bus.read("Present_Position", f"dummy_{idx}")
+
+    assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called
+    assert len(pos_dict) == 1
+    assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
+
+
+@pytest.mark.parametrize("idx", [1, 2, 3])
+def test_read_single_motor_id(idx):
+    mock_motors = MockMotors([1, 2, 3])
+    motors_bus = DynamixelMotorsBus(
+        port=mock_motors.port,
+        motors={
+            "dummy_1": (1, "xl330-m077"),
+            "dummy_2": (2, "xl330-m077"),
+            "dummy_3": (3, "xl330-m077"),
+        },
+    )
+    motors_bus.connect()
+
+    pos_dict = motors_bus.read("Present_Position", idx)
+
+    assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called
+    assert len(pos_dict) == 1
+    assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
+
+
+@pytest.mark.parametrize(
+    "num_retry, num_invalid_try",
+    [
+        [1, 2],
+        [2, 3],
+        [3, 2],
+        [2, 1],
+    ],
+)
+def test_read_num_retry(num_retry, num_invalid_try):
+    mock_motors = MockMotors([1, 2, 3], default_stubs=None)
+    address, length = mock_motors.ctrl_table["Present_Position"]
+    receive_bytes = MockInstructionPacket.sync_read([1], address, length)
+    send_fn = mock_motors._create_present_pos_send_fn(
+        [1], "Present_Position", num_invalid_try=num_invalid_try
+    )
+    mock_motors.stub(name="num_retry", receive_bytes=receive_bytes, send_fn=send_fn)
+
+    motors_bus = DynamixelMotorsBus(
+        port=mock_motors.port,
+        motors={
+            "dummy_1": (1, "xl330-m077"),
+            "dummy_2": (2, "xl330-m077"),
+            "dummy_3": (3, "xl330-m077"),
+        },
+    )
+    motors_bus.connect()
+
+    if num_retry >= num_invalid_try:
+        pos_dict = motors_bus.read("Present_Position", 1, num_retry=num_retry)
+        assert len(pos_dict) == 1
+        assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
+    else:
+        with pytest.raises(ConnectionError):
+            _ = motors_bus.read("Present_Position", 1, num_retry=num_retry)
+
+    assert mock_motors.stubs["num_retry"].calls == num_retry