Rename idx -> id_

tests/mocks/mock_dynamixel.py

@@ -281,9 +281,9 @@ class MockInstructionPacket(MockDynamixelPacketv2):
             +2 is for the CRC at the end.
         """
         data = []
-        for idx, value in ids_values.items():
+        for id_, value in ids_values.items():
             split_value = DynamixelMotorsBus._split_int_to_bytes(value, data_length)
-            data += [idx, *split_value]
+            data += [id_, *split_value]
         params = [
             dxl.DXL_LOBYTE(start_address),
             dxl.DXL_HIBYTE(start_address),
@@ -444,10 +444,10 @@ class MockMotors(MockSerial):
         self, ids_models: dict[int, list[int]] | None = None, num_invalid_try: int = 0
     ) -> str:
         ping_request = MockInstructionPacket.ping(dxl.BROADCAST_ID)
-        return_packets = b"".join(MockStatusPacket.ping(idx, model) for idx, model in ids_models.items())
+        return_packets = b"".join(MockStatusPacket.ping(id_, model) for id_, model in ids_models.items())
         ping_response = self._build_send_fn(return_packets, num_invalid_try)
 
-        stub_name = "Ping_" + "_".join([str(idx) for idx in ids_models])
+        stub_name = "Ping_" + "_".join([str(id_) for id_ in ids_models])
         self.stub(
             name=stub_name,
             receive_bytes=ping_request,
@@ -482,10 +482,10 @@ class MockMotors(MockSerial):
         address, length = self.ctrl_table[data_name]
         sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length)
         return_packets = b"".join(
-            MockStatusPacket.present_position(idx, pos) for idx, pos in ids_values.items()
+            MockStatusPacket.present_position(id_, pos) for id_, pos in ids_values.items()
         )
         sync_read_response = self._build_send_fn(return_packets, num_invalid_try)
-        stub_name = f"Sync_Read_{data_name}_" + "_".join([str(idx) for idx in ids_values])
+        stub_name = f"Sync_Read_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
         self.stub(
             name=stub_name,
             receive_bytes=sync_read_request,
@@ -498,7 +498,7 @@ class MockMotors(MockSerial):
     ) -> str:
         address, length = self.ctrl_table[data_name]
         sync_read_request = MockInstructionPacket.sync_write(ids_values, address, length)
-        stub_name = f"Sync_Write_{data_name}_" + "_".join([str(idx) for idx in ids_values])
+        stub_name = f"Sync_Write_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
         self.stub(
             name=stub_name,
             receive_bytes=sync_read_request,

tests/mocks/mock_feetech.py

@@ -46,8 +46,8 @@ class MockFeetechPacket(abc.ABC):
     @staticmethod
     def _add_checksum(packet: list[int]) -> list[int]:
         checksum = 0
-        for idx in range(2, len(packet) - 1):  # except header & checksum
+        for id_ in range(2, len(packet) - 1):  # except header & checksum
-            checksum += packet[idx]
+            checksum += packet[id_]
 
         packet[-1] = scs.SCS_LOBYTE(~checksum)
 
@@ -171,9 +171,9 @@ class MockInstructionPacket(MockFeetechPacket):
             +1 is for the checksum at the end.
         """
         data = []
-        for idx, value in ids_values.items():
+        for id_, value in ids_values.items():
             split_value = FeetechMotorsBus._split_int_to_bytes(value, data_length)
-            data += [idx, *split_value]
+            data += [id_, *split_value]
         params = [start_address, data_length, *data]
         length = len(ids_values) * (1 + data_length) + 4
         return cls.build(scs_id=scs.BROADCAST_ID, params=params, length=length, instruct_type="Sync_Write")
@@ -331,9 +331,9 @@ class MockMotors(MockSerial):
 
     def build_broadcast_ping_stub(self, ids: list[int] | None = None, num_invalid_try: int = 0) -> str:
         ping_request = MockInstructionPacket.ping(scs.BROADCAST_ID)
-        return_packets = b"".join(MockStatusPacket.ping(idx) for idx in ids)
+        return_packets = b"".join(MockStatusPacket.ping(id_) for id_ in ids)
         ping_response = self._build_send_fn(return_packets, num_invalid_try)
-        stub_name = "Ping_" + "_".join([str(idx) for idx in ids])
+        stub_name = "Ping_" + "_".join([str(id_) for id_ in ids])
         self.stub(
             name=stub_name,
             receive_bytes=ping_request,
@@ -386,17 +386,17 @@ class MockMotors(MockSerial):
         sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length)
         if data_name == "Present_Position":
             return_packets = b"".join(
-                MockStatusPacket.present_position(idx, pos) for idx, pos in ids_values.items()
+                MockStatusPacket.present_position(id_, pos) for id_, pos in ids_values.items()
             )
         elif data_name == "Model_Number":
             return_packets = b"".join(
-                MockStatusPacket.model_number(idx, model_nb) for idx, model_nb in ids_values.items()
+                MockStatusPacket.model_number(id_, model_nb) for id_, model_nb in ids_values.items()
             )
         else:
             raise NotImplementedError
 
         sync_read_response = self._build_send_fn(return_packets, num_invalid_try)
-        stub_name = f"Sync_Read_{data_name}_" + "_".join([str(idx) for idx in ids_values])
+        stub_name = f"Sync_Read_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
         self.stub(
             name=stub_name,
             receive_bytes=sync_read_request,
@@ -409,7 +409,7 @@ class MockMotors(MockSerial):
     ) -> str:
         address, length = self.ctrl_table[data_name]
         sync_read_request = MockInstructionPacket.sync_write(ids_values, address, length)
-        stub_name = f"Sync_Write_{data_name}_" + "_".join([str(idx) for idx in ids_values])
+        stub_name = f"Sync_Write_{data_name}_" + "_".join([str(id_) for id_ in ids_values])
         self.stub(
             name=stub_name,
             receive_bytes=sync_read_request,

tests/motors/test_dynamixel.py

@@ -92,17 +92,17 @@ def test_abc_implementation(dummy_motors):
     DynamixelMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
 
 
-@pytest.mark.parametrize("idx", [1, 2, 3])
+@pytest.mark.parametrize("id_", [1, 2, 3])
-def test_ping(idx, mock_motors, dummy_motors):
+def test_ping(id_, mock_motors, dummy_motors):
-    expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{idx}"].model]
+    expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{id_}"].model]
-    stub_name = mock_motors.build_ping_stub(idx, expected_model_nb)
+    stub_name = 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)
 
-    ping_model_nb = motors_bus.ping(idx)
+    ping_model_nb = motors_bus.ping(id_)
 
     assert ping_model_nb == expected_model_nb
     assert mock_motors.stubs[stub_name].called

tests/motors/test_feetech.py

@@ -93,18 +93,18 @@ def test_abc_implementation(dummy_motors):
 
 
 # @pytest.mark.skip("TODO")
-@pytest.mark.parametrize("idx", [1, 2, 3])
+@pytest.mark.parametrize("id_", [1, 2, 3])
-def test_ping(idx, mock_motors, dummy_motors):
+def test_ping(id_, mock_motors, dummy_motors):
-    expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{idx}"].model]
+    expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{id_}"].model]
-    ping_stub = mock_motors.build_ping_stub(idx)
+    ping_stub = mock_motors.build_ping_stub(id_)
-    mobel_nb_stub = mock_motors.build_read_stub("Model_Number", idx, expected_model_nb)
+    mobel_nb_stub = mock_motors.build_read_stub("Model_Number", id_, expected_model_nb)
     motors_bus = FeetechMotorsBus(
         port=mock_motors.port,
         motors=dummy_motors,
     )
     motors_bus.connect(assert_motors_exist=False)
 
-    ping_model_nb = motors_bus.ping(idx)
+    ping_model_nb = motors_bus.ping(id_)
 
     assert ping_model_nb == expected_model_nb
     assert mock_motors.stubs[ping_stub].called