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Refactor tests

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This commit is contained in:
Simon Alibert
2025-04-14 15:26:29 +02:00
parent d70bc4bde9
commit 1f210bc8a3
4 changed files with 124 additions and 213 deletions
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146
tests/motors/test_dynamixel.py
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@@ -90,13 +90,10 @@ def test_abc_implementation(dummy_motors):
def test_ping(id_, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
stub = mock_motors.build_ping_stub(id_, expected_model_nb)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
ping_model_nb = motors_bus.ping(id_)
ping_model_nb = bus.ping(id_)
assert ping_model_nb == expected_model_nb
assert mock_motors.stubs[stub].called
@@ -106,13 +103,10 @@ def test_broadcast_ping(mock_motors, dummy_motors):
models = {m.id: m.model for m in dummy_motors.values()}
expected_model_nbs = {id_: MODEL_NUMBER_TABLE[model] for id_, model in models.items()}
stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
ping_model_nbs = motors_bus.broadcast_ping()
ping_model_nbs = bus.broadcast_ping()
assert ping_model_nbs == expected_model_nbs
assert mock_motors.stubs[stub].called
@@ -128,13 +122,10 @@ def test_broadcast_ping(mock_motors, dummy_motors):
)
def test__read(addr, length, id_, value, mock_motors, dummy_motors):
stub = mock_motors.build_read_stub(addr, length, id_, value)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
read_value, _, _ = motors_bus._read(addr, length, id_)
read_value, _, _ = bus._read(addr, length, id_)
assert mock_motors.stubs[stub].called
assert read_value == value
@@ -144,19 +135,16 @@ def test__read(addr, length, id_, value, mock_motors, dummy_motors):
def test__read_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
if raise_on_error:
with pytest.raises(
RuntimeError, match=re.escape("[RxPacketError] The data value exceeds the limit value!")
):
motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
bus._read(addr, length, id_, raise_on_error=raise_on_error)
else:
_, _, read_error = motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
_, _, read_error = bus._read(addr, length, id_, raise_on_error=raise_on_error)
assert read_error == error
assert mock_motors.stubs[stub].called
@@ -166,17 +154,14 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
def test__read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
bus._read(addr, length, id_, raise_on_error=raise_on_error)
else:
_, read_comm, _ = motors_bus._read(addr, length, id_, raise_on_error=raise_on_error)
_, read_comm, _ = bus._read(addr, length, id_, raise_on_error=raise_on_error)
assert read_comm == dxl.COMM_RX_TIMEOUT
assert mock_motors.stubs[stub].called
@@ -192,13 +177,10 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
)
def test__write(addr, length, id_, value, mock_motors, dummy_motors):
stub = mock_motors.build_write_stub(addr, length, id_, value)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
comm, error = motors_bus._write(addr, length, id_, value)
comm, error = bus._write(addr, length, id_, value)
assert mock_motors.stubs[stub].called
assert comm == dxl.COMM_SUCCESS
@@ -209,19 +191,16 @@ def test__write(addr, length, id_, value, mock_motors, dummy_motors):
def test__write_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
if raise_on_error:
with pytest.raises(
RuntimeError, match=re.escape("[RxPacketError] The data value exceeds the limit value!")
):
motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
else:
_, write_error = motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
_, write_error = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
assert write_error == error
assert mock_motors.stubs[stub].called
@@ -231,17 +210,14 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
def test__write_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
else:
write_comm, _ = motors_bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
write_comm, _ = bus._write(addr, length, id_, value, raise_on_error=raise_on_error)
assert write_comm == dxl.COMM_RX_TIMEOUT
assert mock_motors.stubs[stub].called
@@ -258,13 +234,10 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
)
def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
read_values, _ = motors_bus._sync_read(addr, length, list(ids_values))
read_values, _ = bus._sync_read(addr, length, list(ids_values))
assert mock_motors.stubs[stub].called
assert read_values == ids_values
@@ -274,17 +247,14 @@ def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, ids_values = (10, 4, {1: 1337})
stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
motors_bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
else:
_, read_comm = motors_bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
_, read_comm = bus._sync_read(addr, length, list(ids_values), raise_on_error=raise_on_error)
assert read_comm == dxl.COMM_RX_TIMEOUT
assert mock_motors.stubs[stub].called
@@ -301,13 +271,10 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
)
def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
comm = motors_bus._sync_write(addr, length, ids_values)
comm = bus._sync_write(addr, length, ids_values)
assert mock_motors.stubs[stub].wait_called()
assert comm == dxl.COMM_SUCCESS
@@ -322,14 +289,14 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
offsets_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Homing_Offset"], encoded_homings)
mins_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Min_Position_Limit"], mins)
maxes_stub = mock_motors.build_sync_read_stub(*X_SERIES_CONTROL_TABLE["Max_Position_Limit"], maxes)
motors_bus = DynamixelMotorsBus(
bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
calibration=dummy_calibration,
)
motors_bus.connect(assert_motors_exist=False)
bus.connect(assert_motors_exist=False)
is_calibrated = motors_bus.is_calibrated
is_calibrated = bus.is_calibrated
assert is_calibrated
assert mock_motors.stubs[drive_modes_stub].called
@@ -353,13 +320,10 @@ def test_reset_calibration(mock_motors, dummy_motors):
mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Max_Position_Limit"], motor.id, 4095)
)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
motors_bus.reset_calibration()
bus.reset_calibration()
assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
assert all(mock_motors.stubs[stub].called for stub in write_mins_stubs)
@@ -390,16 +354,13 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
stub = mock_motors.build_write_stub(*X_SERIES_CONTROL_TABLE["Homing_Offset"], id_, encoded_homing)
write_homing_stubs.append(stub)
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.reset_calibration = MagicMock()
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.reset_calibration = MagicMock()
motors_bus.set_half_turn_homings()
bus.set_half_turn_homings()
motors_bus.reset_calibration.assert_called_once()
bus.reset_calibration.assert_called_once()
assert mock_motors.stubs[read_pos_stub].called
assert all(mock_motors.stubs[stub].called for stub in write_homing_stubs)
@@ -424,13 +385,10 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
*X_SERIES_CONTROL_TABLE["Present_Position"], positions
)
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
motors_bus = DynamixelMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect(assert_motors_exist=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
mins, maxes = motors_bus.record_ranges_of_motion(display_values=False)
mins, maxes = bus.record_ranges_of_motion(display_values=False)
assert mock_motors.stubs[read_pos_stub].calls == 3
assert mins == expected_mins