forked from tangger/lerobot
76 lines
2.1 KiB
Python
76 lines
2.1 KiB
Python
from dynamixel_sdk import COMM_SUCCESS
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DEFAULT_BAUDRATE = 9_600
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def mock_convert_to_bytes(value, bytes):
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del bytes # unused
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return value
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class MockPortHandler:
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def __init__(self, port):
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self.port = port
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# default fresh from factory baudrate
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self.baudrate = DEFAULT_BAUDRATE
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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 MockPacketHandler:
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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 MockGroupSyncRead:
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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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if motor_index not in self.packet_handler.data:
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# Initialize motor default values
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self.packet_handler.data[motor_index] = {
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# Key (int) are from X_SERIES_CONTROL_TABLE
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7: motor_index, # ID
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8: DEFAULT_BAUDRATE, # Baud_rate
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10: 0, # Drive_Mode
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64: 0, # Torque_Enable
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132: 0, # Present_Position
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}
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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 MockGroupSyncWrite:
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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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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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